# American Institute of Mathematical Sciences

December  2016, 8(4): 413-435. doi: 10.3934/jgm.2016014

## The Tulczyjew triple in mechanics on a Lie group

 1 Department of Physics, University of Warsaw, Pasteura 5, 02-093 Warszawa, Poland

Received  February 2016 Revised  October 2016 Published  November 2016

Tulczyjew triple for physical systems with configuration manifold equipped with a Lie group structure is constructed and discussed. Systems invariant with respect to group and subgroup actions are considered together with appropriate reductions of the Tulczyjew triple. The theory is applied to free and constrained rigid-body dynamics.
Citation: Katarzyna Grabowska, Marcin Zając. The Tulczyjew triple in mechanics on a Lie group. Journal of Geometric Mechanics, 2016, 8 (4) : 413-435. doi: 10.3934/jgm.2016014
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