ar X iv : m at h - ph / 0 21 10 28 v 2 1 1 N ov 2 00 3 Geometric integrators and nonholonomic mechanics
نویسندگان
چکیده
A geometric derivation of nonholonomic integrators is developed. It is based in the classical technique of generating functions adapted to the special features of nonholonomic systems. The theoretical methodology and the integrators obtained are different from the obtained in [12]. In the case of mechanical systems with linear constraints a family of geometric integrators preserving the nonholonomic constraints is given.
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