Variational development of the semi-symplectic geometry of nonholonomic mechanics (Q2480672)

Holonomic mechanics shines in the company of symplectic geometry of a phase space, in a way which naturally diminishes the impositions from tangent and cotangent fibrations. Analogously, nonholonomic mechanics shines in the company of semi-symplectic geometry and the present paper is a large exposition of the semi-symplectic category. A variational approach is chosen in order to include nonlinear constraints irrespective of whether or not they are obtained from Chetaev's rule.