We consider nonholonomic systems with symmetry possessing a certain type of first integral which is linear in the velocities. We develop a systematic method for modifying the standard nonholonomic almost Poisson structure that describes the dynamics so that these integrals become Casimir functions after reduction. This explains a number of recent results on Hamiltonization of nonholonomic systems, and has consequences for the study of relative equilibria in such systems.
Archive for Rational Mechanics and Analysis – Springer Journals
Published: Nov 29, 2017
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