Joris Vankerschaver 2007 J. Phys. A: Math. Theor. 40 3889 doi:10.1088/1751-8113/40/14/010
Joris Vankerschaver
Show affiliationsWe propose a first example of a simple classical field theory with nonholonomic constraints. Our model is a straightforward modification of a Cosserat rod. Based on a mechanical analogy, we argue that the constraint forces should be modelled in a special way, and we show how such a procedure can be naturally implemented in the framework of geometric field theory. Finally, we derive the equations of motion and we propose a geometric integration scheme for the dynamics of a simplified model.
45.10.Na Geometrical and tensorial methods
45.20.Jj Lagrangian and Hamiltonian mechanics
Issue 14 (6 April 2007)
Received 7 November 2006, in final form 22 February 2007
Published 20 March 2007
Joris Vankerschaver 2007 J. Phys. A: Math. Theor. 40 3889
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