# Base-controlled mechanical systems and geometric phases

@article{Cabrera2008BasecontrolledMS, title={Base-controlled mechanical systems and geometric phases}, author={A. Cabrera}, journal={Journal of Geometry and Physics}, year={2008}, volume={58}, pages={334-367} }

Abstract In this paper, we carry a detailed study of mechanical systems with configuration space Q ⟶ Q / G for which the base Q / G variables are being controlled. The overall system’s motion is considered to be induced from the base one due to the presence of general non-holonomic constraints. It is shown that the solution can be factorized into dynamical and geometrical parts. Moreover, under favorable kinematical circumstances, the dynamical part admits a further factorization since it can… Expand

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