Abstract
For a Boltzmann-Hamel equation of nonholonomic mechanical system, when it meets certain conditions, the Boltzmann-Hamel equation can be transformed into a Birkhoffian system. By constructing the generating function, the system is investigated numerically using the generalized symplectic geometric algorithm of the nonautonomous Birkhoffian system. Compared with the above-mentioned algorithm with the classical Runge-Kutta method, Birkhoffian symplectic scheme is very accurate in a long-term tracing.
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