# American Institute of Mathematical Sciences

March  2018, 10(1): 1-41. doi: 10.3934/jgm.2018001

## Lagrange-d'alembert-poincaré equations by several stages

 Departamento de Matemática, Universidad Nacional del Sur, Av. Alem 1253,8000 Bahía Blanca, Argentina

Received  June 2014 Revised  June 2017 Published  December 2017

The aim of this paper is to write explicit expression in terms of a given principal connection of the Lagrange-d'Alembert-Poincaré equations by several stages. This is obtained by using a reduced Lagrange-d'Alembert's Principle by several stages, extending methods known for the case of one stage in the previous literature. The case of Euler's disk is described as an illustrative example.

Citation: Hernán Cendra, Viviana A. Díaz. Lagrange-d'alembert-poincaré equations by several stages. Journal of Geometric Mechanics, 2018, 10 (1) : 1-41. doi: 10.3934/jgm.2018001
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