Discrete Lagrange-d'Alembert-Poincaré equations for Euler's disk
Nonholonomic systems are described by the Lagrange-d’Alembert principle. The presence of symmetry leads to a reduced d’Alembert principle and to the Lagrange-d’Alembert-Poincaré equations. First, we briefly recall from previous works how to obtain these reduced equations for the case of a thick disk...
| Authors: | , , , |
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| Format: | article |
| Status: | Published version |
| Publication Date: | 2011 |
| Country: | Argentina |
| Institution: | Consejo Nacional de Investigaciones Científicas y Técnicas |
| Repository: | CONICET Digital (CONICET) |
| Language: | English |
| OAI Identifier: | oai:ri.conicet.gov.ar:11336/195690 |
| Online Access: | http://hdl.handle.net/11336/195690 |
| Access Level: | Open access |
| Keyword: | EULER'S DISK DISCRETE EQUATIONS SIMULATIONS https://purl.org/becyt/ford/1.1 https://purl.org/becyt/ford/1 |
| Summary: | Nonholonomic systems are described by the Lagrange-d’Alembert principle. The presence of symmetry leads to a reduced d’Alembert principle and to the Lagrange-d’Alembert-Poincaré equations. First, we briefly recall from previous works how to obtain these reduced equations for the case of a thick disk rolling on a rough surface using a three-dimensional abelian group of symmetries. The main results of the present paper are the calculation of the discrete Lagrange-d’Alembert-Poincaré equations for an Euler’s disk and the numerical simulation of a trajectory and its energy behavior. |
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