Article Contents
Article Contents

# Linear weakly Noetherian constants of motion are horizontal gauge momenta

• noindent The notion of gauge momenta is a generalization of the momentum map which is relevant for nonholonomic systems with symmetry. Weakly Noetherian functions are functions which are constants of motion of all 'natural' nonholonomic systems with a given kinetic energy and any $G$-invariant potential energy. We show that, when the action of the symmetry group on the configuration manifold is free and proper, a function which is linear in the velocities is weakly-Noetherian if anf only if it is a gauge momenta which has a horizontal generator.
Mathematics Subject Classification: 37J15, 37J05, 70F25.

 Citation:

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