We begin with a short presentation of the basic concepts related to Lie groupoids and Lie algebroids, but the main part of this paper deals with Lie algebroids. A Lie algebroid over a manifold is a vector bundle over that manifold whose properties are very similar to those of a tangent bundle. Its dual bundle has properties very similar to those of a cotangent bundle: in the graded algebra of sections of its exterior powers, one can define an operator similar to the exterior derivative. We present...
We obtain conditions under which a submanifold of a Poisson manifold has an induced Poisson structure, which encompass both the Poisson submanifolds of A. Weinstein [21] and the Poisson structures on the phase space of a mechanical system with kinematic constraints of Van der Schaft and Maschke [20]. Generalizations of these results for submanifolds of a Jacobi manifold are briefly sketched.
Around 1923, Élie Cartan introduced affine connections on manifolds and defined the main related concepts: torsion, curvature, holonomy groups. He discussed applications of these concepts in Classical and Relativistic Mechanics; in particular he explained how parallel transport with respect to a connection can be related to the principle of inertia in Galilean Mechanics and, more generally, can be used to model the motion of a particle in a gravitational field. In subsequent papers, Élie Cartan...
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