A variational formulation of analytical mechanics in an affine space

Variational formulations of statics and dynamics of mechanical systems controlled by external forces are presented as examples of variational principles.Comment: 17 pages, corrected typos, accepted for publication in Rep. Math. Phy

Canonical endomorphism field on a Lie algebra

We show that every Lie algebra is equipped with a natural $(1,1)$-variant tensor field, the "canonical endomorphism field", naturally determined by the Lie structure, and satisfying a certain Nijenhuis bracket condition. This observation may be considered as complementary to the Kirillov-Kostant-Souriau theorem on symplectic geometry of coadjoint orbits. We show its relevance for classical mechanics, in particular for Lax equations. We show that the space of Lax vector fields is closed under Lie bracket and we introduce a new bracket for vector fields on a Lie algebra. This bracket defines a new Lie structure on the space of vector fields.Comment: 18 page

The origin of variational principles

This note presents an attempt to provide a conceptual framework for variational formulations of classical physics. Variational principles of physics have all a common source in the {\it principle of virtual work} well known in statics of mechanical systems. This principle is presented here as the first step in characterizing local stable equilibria of static systems. An extended analysis of local equilibria is given for systems with configuration manifolds of finite dimensions. Numerous examples of the principle of virtual work and the Legendre transformation applied to static mechanical systems are provided. Configuration spaces for the dynamics of autonomous mechanical systems and for statics of continua are constructed in the final sections. These configuration spaces are not differential manifolds.Comment: 35 page