Lagrangian mechanics on manifolds

  • V. I. Arnold
Part of the Graduate Texts in Mathematics book series (GTM, volume 60)


In this chapter we introduce the concepts of a differentiable manifold and its tangent bundle. A lagrangian function, given on the tangent bundle, defines a lagrangian “holonomic system” on a manifold. Systems of point masses with holonomic constraints (e.g., a pendulum or a rigid body) are special cases.


Tangent Vector Tangent Bundle Configuration Space Lagrangian Function Constraint Force 
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Copyright information

© Springer Science+Business Media New York 1989

Authors and Affiliations

  • V. I. Arnold
    • 1
  1. 1.Department of Mathematics Steklov Mathematical InstituteRussian Academy of SciencesMoscowRussia

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