Jacobi fields in nonholonomic mechanics

Abstract: In this paper, we define Jacobi fields for nonholonomic mechanics using a similar characterization than in Riemannian geometry. We give explicit conditions to find Jacobi fields and finally we find the nonholonomic Jacobi equations in two equivalent ways: the first one, using an appropriate complete lift of the nonholonomic system and, in the second one, using the curvature and torsion of the associated nonholonomic connection.