2 research outputs found
Stability of relative equilibria with singular momentum values in simple mechanical systems
A method for testing -stability of relative equilibria in Hamiltonian
systems of the form "kinetic + potential energy" is presented. This method
extends the Reduced Energy-Momentum Method of Simo et al. to the case of
non-free group actions and singular momentum values. A normal form for the
symplectic matrix at a relative equilibrium is also obtained.Comment: Partially rewritten. Some mistakes fixed. Exposition improve