On the inverse variational problem in nonholonomic mechanics
The inverse problem of the calculus of variations in a nonholonomic setting is studied. The concept of constraint variationality is introduced on the basis of a recently discovered nonholonomic variational principle. Variational properties of first order mechanical systems with general nonholonomic constraints are studied. It is shown that constraint variationality is equivalent with the existence of a closed representative in the class of 2-forms determining the nonholonomic system. Together with...