Hamiltonization of Solids of Revolution Through Reduction

In this paper, we study the relation between conserved quantities of nonholonomic systems and the hamiltonization problem employing the geometric methods of Balseiro (Arch Ration Mech Anal 214:453–501, 2014) and Balseiro and Garcia-Naranjo (Arch Ration Mech Anal 205(1):267–310, 2012). We illustrate the theory with classical examples describing the dynamics of solids of revolution rolling without sliding on a plane. In these cases, using the existence of two conserved quantities we obtain, by means of gauge transformations and symmetry reduction, genuine Poisson brackets describing the reduced dynamics.

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