Singular lagrangian systems and variational constrained mechanics on Lie algebroids

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The purpose of this paper is describe Lagrangian Mechanics for constrained systems on Lie algebroids, a natural framework which covers a wide range of situations (systems on Lie groups, quotients by the action of a Lie group, standard tangent bundles...). In particular, we are interested in two cases: singular Lagrangian systems and vakonomic mechanics (variational constrained mechanics). Several examples illustrate the interest of these developments.
42 pages, Section with examples improved

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Differential Geometry, Mathematical Physics, 17B66, 37J60, 70F25, 70H30, 70H33, 70G45

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http://salesiana.dossiersoluciones.com/handle/123456789/154203

Consulte el texto completo en el siguiente enlace:

https://arxiv.org/abs/0706.2789
 http://arxiv.org/abs/0706.2789

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arXiv