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Jacobi fields in nonholonomic mechanics (2004.10457v2)
Published 22 Apr 2020 in math.DG, math-ph, and math.MP
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.
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