Nonholonomic reduction for free and proper actions
The authors study a nonholonomically constrained Hamiltonian system with a symmetry group which acts properly and freely on a constraint distribution. They show that the reduced dynamics is described by a generalized distributional Hamiltonian system. The general theory is illustrated by the example of Chaplygin's sleigh.
generalized distributional Hamiltonian system
scientific article; zbMATH DE number 1873392