Hamel’s equations and geometric mechanics of constrained and floating multibody and space systems

Modern geometric approaches to analytical mechanics rest on a bundle structure of the configuration space. The connection this allows for an intrinsic splitting reduced Euler-Lagrange equations. Hamel's equations, other hand, provide universal approach non-holonomic in local coordinates. link between formulation and coordinates has not been discussed sufficiently. equations as well curvature connection, are derived with original formalism. Intrinsic into Euler-Poincare inertial decoupling is achieved by means locked velocity. Various aspects method discussed.