Symmetries and constraints in mechanics of continua

Jan Jerzy Sławianowski

Published 2010-11-23, updated 2016-02-17Version 3

In spite of its long history and classical character which goes back even to d'Alembert and Lagrange, the problems of constraints in mechanics of continua is still mysterious and full of misunderstandings. Let us mention the problem of difference between special solutions of unconstrained systems and constraints dynamics, holonomic and nonholonomic constrained, various versions of so-called vakonomy, sub-Riemannian structures, servoconstraints, and programme motion. There are some strange confusions between field theory and mechanics of continua; many problems call for conceptual cleaning, although both the mechanics of continua and field theory are formally based on partial differential equations. The author is deeply indebted to professor Czes\law Wo\'{z}niak for his help during many years, and deep understanding and support.