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On the global version of Euler-Lagrange equations. (English) Zbl 1069.70008

The authors derive intrinsic Euler-Lagrange equations and show the appearance of torsion term. The authors show that this term should also be present in the horizontal Lagrange-Poincaré equations, if the torsion of the chosen derivative does not vanish.

MSC:

70H03 Lagrange’s equations
70G45 Differential geometric methods (tensors, connections, symplectic, Poisson, contact, Riemannian, nonholonomic, etc.) for problems in mechanics
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