Some Remarks on Geometric Mechanics

  • Jerrold E. Marsden


This paper gives a few new developments in mechanics, as well as some remarks of a historical nature. To keep the discussion focussed, most of the paper is confined to equations of “rigid body”, or “hydrodynamic” type on Lie algebras or their duals. In particular, we will develop the variational structure of these equations and will relate it to the standard variational principle of Hamilton.


Variational Principle Symplectic Form Poisson Structure Nonholonomic System Coadjoint Orbit 
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© Springer-Verlag Berlin Heidelberg 1994

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  • Jerrold E. Marsden

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