Let M be a finite-dimensional manifold. Recall that on the manifold TM there is a vertical distribution V (a sub-bundle of the second tangent bundle TTM) whose fibers consist of vectors tangent to the fibers of TM. The vectors belonging to V are said to be vertical (see Section 2.1).
KeywordsMechanical System Covariant Derivative Orthonormal Frame Newtonian Mechanics Parallel Translation
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