Description

We present in modern language the contents of the famous note published by Henri Poincaré in 1901 “Sur une forme nouvelle des équations de la mécanique”, in which he proves that, when a Lie algebra acts transitively on the configuration||space of a Lagrangian mechanical system, the well known Euler-Lagrange equations are equivalent to a new system of differential equations defined on the product of the configuration space with the Lie algebra. We write these equations, called the Euler-Poincaré equations, under an intrinsic form, without any reference to a particular system of local coordinates, and prove that they can be conveniently expressed in terms of the Legendre and momentum maps. We discuss the use of the Euler-Poincaré equation for reduction (a procedure sometimes called Lagrangian reduction by modern authors), and compare this procedure with the well known Hamiltonian||reduction procedure (formulated in modern terms in 1974 by J.E. Marsden and A. Weinstein).

Auteur

Marle, Charles-Michel

Date

2012-11-20

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