Geometric mechanics is a branch of mathematics applying particular geometric methods to many areas of mechanics, from mechanics of particles and rigid bodies to fluid mechanics and control theory.
Geometric mechanics applies principally to systems for which the configuration space is a Lie group, or a group of diffeomorphisms, or more generally where some aspect of the configuration space has this group structure. For example, the configuration space of a rigid body such as a satellite is the group of Euclidean motions (translations and rotations in space), while the configuration space for a liquid crystal is the group of diffeomorphisms coupled with an internal state (gauge symmetry or order parameter).
One of the principal ideas of geometric mechanics is reduction, which goes back to Jacobi's elimination of the node in the 3-body problem, but in its modern form is due to K. Meyer (1973) and independently J.E. Marsden and A. Weinstein (1974), both inspired by the work of Smale (1970). Symmetry of a Hamiltonian or Lagrangian system gives rise to conserved quantities, by Noether's theorem, and these conserved quantities are the components of the momentum map J. If P is the phase space and G the symmetry group, the momentum map is a map , and the reduced spaces are quotients of the level sets of J by the subgroup of G preserving the level set in question: for one defines , and this reduced space is a symplectic manifold if is a regular value of J.
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One of the important developments arising from the geometric approach to mechanics is the incorporation of the geometry into numerical methods. In particular symplectic and variational integrators are proving particularly accurate for long-term integration of Hamiltonian and Lagrangian systems.
The term "geometric mechanics" occasionally refers to 17th-century mechanics. [1]
As a modern subject, geometric mechanics has its roots in four works written in the 1960s. These were by Vladimir Arnold (1966), Stephen Smale (1970) and Jean-Marie Souriau (1970), and the first edition of Abraham and Marsden's Foundation of Mechanics (1967). Arnold's fundamental work showed that Euler's equations for the free rigid body are the equations for geodesic flow on the rotation group SO(3) and carried this geometric insight over to the dynamics of ideal fluids, where the rotation group is replaced by the group of volume-preserving diffeomorphisms. Smale's paper on Topology and Mechanics investigates the conserved quantities arising from Noether's theorem when a Lie group of symmetries acts on a mechanical system, and defines what is now called the momentum map (which Smale calls angular momentum), and he raises questions about the topology of the energy-momentum level surfaces and the effect on the dynamics. In his book, Souriau also considers the conserved quantities arising from the action of a group of symmetries, but he concentrates more on the geometric structures involved (for example the equivariance properties of this momentum for a wide class of symmetries), and less on questions of dynamics.
These ideas, and particularly those of Smale were central in the second edition of Foundations of Mechanics (Abraham and Marsden, 1978).
Noether's theorem or Noether's first theorem states that every differentiable symmetry of the action of a physical system with conservative forces has a corresponding conservation law. The theorem was proven by mathematician Emmy Noether in 1915 and published in 1918. The action of a physical system is the integral over time of a Lagrangian function, from which the system's behavior can be determined by the principle of least action. This theorem only applies to continuous and smooth symmetries over physical space.
In mathematics, a symplectomorphism or symplectic map is an isomorphism in the category of symplectic manifolds. In classical mechanics, a symplectomorphism represents a transformation of phase space that is volume-preserving and preserves the symplectic structure of phase space, and is called a canonical transformation.
In classical and quantum mechanics, geometric phase is a phase difference acquired over the course of a cycle, when a system is subjected to cyclic adiabatic processes, which results from the geometrical properties of the parameter space of the Hamiltonian. The phenomenon was independently discovered by S. Pancharatnam (1956), in classical optics and by H. C. Longuet-Higgins (1958) in molecular physics; it was generalized by Michael Berry in (1984). It is also known as the Pancharatnam–Berry phase, Pancharatnam phase, or Berry phase. It can be seen in the conical intersection of potential energy surfaces and in the Aharonov–Bohm effect. Geometric phase around the conical intersection involving the ground electronic state of the C6H3F3+ molecular ion is discussed on pages 385–386 of the textbook by Bunker and Jensen. In the case of the Aharonov–Bohm effect, the adiabatic parameter is the magnetic field enclosed by two interference paths, and it is cyclic in the sense that these two paths form a loop. In the case of the conical intersection, the adiabatic parameters are the molecular coordinates. Apart from quantum mechanics, it arises in a variety of other wave systems, such as classical optics. As a rule of thumb, it can occur whenever there are at least two parameters characterizing a wave in the vicinity of some sort of singularity or hole in the topology; two parameters are required because either the set of nonsingular states will not be simply connected, or there will be nonzero holonomy.
In theoretical physics and mathematical physics, analytical mechanics, or theoretical mechanics is a collection of closely related alternative formulations of classical mechanics. It was developed by many scientists and mathematicians during the 18th century and onward, after Newtonian mechanics. Since Newtonian mechanics considers vector quantities of motion, particularly accelerations, momenta, forces, of the constituents of the system, an alternative name for the mechanics governed by Newton's laws and Euler's laws is vectorial mechanics.
In mathematical physics, geometric quantization is a mathematical approach to defining a quantum theory corresponding to a given classical theory. It attempts to carry out quantization, for which there is in general no exact recipe, in such a way that certain analogies between the classical theory and the quantum theory remain manifest. For example, the similarity between the Heisenberg equation in the Heisenberg picture of quantum mechanics and the Hamilton equation in classical physics should be built in.
In mathematics and physics, a Hamiltonian vector field on a symplectic manifold is a vector field defined for any energy function or Hamiltonian. Named after the physicist and mathematician Sir William Rowan Hamilton, a Hamiltonian vector field is a geometric manifestation of Hamilton's equations in classical mechanics. The integral curves of a Hamiltonian vector field represent solutions to the equations of motion in the Hamiltonian form. The diffeomorphisms of a symplectic manifold arising from the flow of a Hamiltonian vector field are known as canonical transformations in physics and (Hamiltonian) symplectomorphisms in mathematics.
Spacetime symmetries are features of spacetime that can be described as exhibiting some form of symmetry. The role of symmetry in physics is important in simplifying solutions to many problems. Spacetime symmetries are used in the study of exact solutions of Einstein's field equations of general relativity. Spacetime symmetries are distinguished from internal symmetries.
In mathematics, the coadjoint representation of a Lie group is the dual of the adjoint representation. If denotes the Lie algebra of , the corresponding action of on , the dual space to , is called the coadjoint action. A geometrical interpretation is as the action by left-translation on the space of right-invariant 1-forms on .
In mathematics, specifically in symplectic geometry, the momentum map is a tool associated with a Hamiltonian action of a Lie group on a symplectic manifold, used to construct conserved quantities for the action. The momentum map generalizes the classical notions of linear and angular momentum. It is an essential ingredient in various constructions of symplectic manifolds, including symplectic (Marsden–Weinstein) quotients, discussed below, and symplectic cuts and sums.
In mathematics, specifically in symplectic geometry, the symplectic cut is a geometric modification on symplectic manifolds. Its effect is to decompose a given manifold into two pieces. There is an inverse operation, the symplectic sum, that glues two manifolds together into one. The symplectic cut can also be viewed as a generalization of symplectic blow up. The cut was introduced in 1995 by Eugene Lerman, who used it to study the symplectic quotient and other operations on manifolds.
Jerrold Eldon Marsden was a Canadian mathematician. He was the Carl F. Braun Professor of Engineering and Control & Dynamical Systems at the California Institute of Technology. Marsden is listed as an ISI highly cited researcher.
The concept of mass in general relativity (GR) is more subtle to define than the concept of mass in special relativity. In fact, general relativity does not offer a single definition of the term mass, but offers several different definitions that are applicable under different circumstances. Under some circumstances, the mass of a system in general relativity may not even be defined.
In theoretical physics, the BRST formalism, or BRST quantization denotes a relatively rigorous mathematical approach to quantizing a field theory with a gauge symmetry. Quantization rules in earlier quantum field theory (QFT) frameworks resembled "prescriptions" or "heuristics" more than proofs, especially in non-abelian QFT, where the use of "ghost fields" with superficially bizarre properties is almost unavoidable for technical reasons related to renormalization and anomaly cancellation.
Alan David Weinstein is a professor of mathematics at the University of California, Berkeley, working in the field of differential geometry, and especially in Poisson geometry.
In mathematics, any Lagrangian system generally admits gauge symmetries, though it may happen that they are trivial. In theoretical physics, the notion of gauge symmetries depending on parameter functions is a cornerstone of contemporary field theory.
Symmetries in quantum mechanics describe features of spacetime and particles which are unchanged under some transformation, in the context of quantum mechanics, relativistic quantum mechanics and quantum field theory, and with applications in the mathematical formulation of the standard model and condensed matter physics. In general, symmetry in physics, invariance, and conservation laws, are fundamentally important constraints for formulating physical theories and models. In practice, they are powerful methods for solving problems and predicting what can happen. While conservation laws do not always give the answer to the problem directly, they form the correct constraints and the first steps to solving a multitude of problems.
In mathematics a Dirac structure is a geometric construction generalizing both symplectic structures and Poisson structures, and having several applications to mechanics. It is based on the notion of constraint introduced by Paul Dirac and was first introduced by Ted Courant and Alan Weinstein.
Tudor Stefan Rațiu is a Romanian-American mathematician who has made contributions to geometric mechanics and dynamical systems theory.
David Gregory Ebin is an American mathematician, specializing in differential geometry.
Symmetry in Mechanics: A Gentle, Modern Introduction is an undergraduate textbook on mathematics and mathematical physics, centered on the use of symplectic geometry to solve the Kepler problem. It was written by Stephanie Singer, and published by Birkhäuser in 2001.