Form invariance and conserved quantity for weakly nonholonomic system.pdfVIP

Appl. Math. Mech. -Engl. Ed., 35(10), 1293–1300 (2014) Applied Mathematics DOI 10.1007/s10483-014-1863-9 and Mechanics c Shanghai University and Springer-Verlag Berlin Heidelberg 2014 (English Edition) Form invariance and conserved quantity for weakly nonholonomic system∗ Hui-bin WU (), Feng-xiang MEI () (School of Mathematics, Beijing Institute of Technology, Beijing 100081, P. R. China) Abstract The form invariance and the conserved quantity for a weakly nonholonomic system (WNS) are studied. The WNS is a nonholonomic system (NS) whose constraint equations contain a small parameter. The differential equations of motion of the system are established. The definition and the criterion of form invariance of the system are given. The conserved quantity deduced from the form invariance is obtained. Finally, an illustrative example is shown. Key words weakly nonholonomic system (WNS), form invariance, conserved quantity Chinese Library Classification O316 2010 Mathematics Subject Classification 37J60, 70H33 1 Introduction The researches on the nonholonomic dynamics have important theoretical value and notice- able sense for applications. Remarkable advance has been achieved[1–8]. Also, a lot of results on the form invariance and conserved quantity for mechanical systems have been obtained[9–18]. The weakly nonholonomic system (WNS) is a special one whose constraint equations contain a small parameter. When the small parameter equals 0, the system becomes a holonomic sys- tem (HS). Mei[19–21] studied the equations of motion and approximate solutions, the canonica