Jet methods in nonholonomic mechanics

Classical nonholonomic mechanical systems are studied whose evolution space is a fiber bundle τ: M→R. The framework is that of jet spaces in which the geometrical meaning of the theory emerges clearly. For systems with linear constraints a new interpretation is given of Appell’s equations as first-order differential equations associated with a suitable vector field. The d’Alembert principle is formulated in an appropriate way to be generalized to systems with nonlinear constraints. The equivalence between the equations of motion arising from this generalization, the ones set up on Gauss’ principle of least constraint and Hertz’s principle of least curvature is established.