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- W2768400772 abstract "Nonholonomic systems are variational models commonly used for mechanical systems with ideal no-slip constraints. This note provides a differential-geometric derivation of the nonholonomic equations of motion for an arbitrary rigid body rolling on an arbitrary surface, via the semi-symplectic formalism, and in terms of shape operators (a.k.a. Weingarten maps). By a semi-symplectic reduction, the well-known differential equations in the case where the surface is a horizontal plane are shown to be semi-symplectic." @default.
- W2768400772 created "2017-12-04" @default.
- W2768400772 creator A5011653418 @default.
- W2768400772 date "2017-11-10" @default.
- W2768400772 modified "2023-09-27" @default.
- W2768400772 title "The vector field of a rolling rigid body" @default.
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