© Springer International Publishing Switzerland 2016. The integration theory of the differential equations which describe the motion of a mechanical system with constraints (constrained mechanical system) is not so complete as for mechanical systems without constraints (unconstrained mechanical systems). This can be due to several reasons. One of them is that the equations of motion of a constrained mechanical system in general have no invariant measure, in contrast to the unconstrained case, see for instance .
|Title of host publication||Progress in Mathematics|
|Number of pages||34|
|Publication status||Published - 1 Jan 2016|