The Hojman Construction and Hamiltonization of Nonholonomic Systems

[摘要] In this paper, using the Hojman construction, we give examples of various Poisson brackets which differ from those which are usually analyzed in Hamiltonian mechanics. They possess a nonmaximal rank, and in the general case an invariant measure and Casimir functions can be globally absent for them.

[关键词] Hamiltonization;Poisson bracket;Casimir functions;invariant measure;nonholonomic hinge;Suslov problem;Chaplygin sleigh