Geometrical Interpretation of Constrained Systems
نویسنده
چکیده
The standard approach to classical dynamics is to form a Lagrangian which is a function of n generalized coordinates qi, n generalized velocities q̇i and parameter τ . The 2n variables qi, q̇i form the tangent bundle TQ. The passage from TQ to the cotangent bundle T ∗Q is achieved by introducing generalized momenta and a Hamiltonian. However, this procedure requires that the rank of Hessian matrix
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