Nonholonomic systems via moving frames: Cartan equivalence and Chaplygin Hamiltonization

A nonholonomic system, for short “NH,” consists of a configuration space Q n, a Lagrangian \( L(q,\dot q,t) \), a nonintegrable constraint distribution \( \mathcal{H} \subset TQ \), with dynamics governed by Lagrange-d’Alembert’s principle. We present here two studies, both using adapted moving fram... View More