The Transgression Effect in the Problem of Motion of an Almost Holonomic Pendulum

In 1986, Ya.V. Tatarinov presented the basis of the theory of weakly nonholonomic systems. Mechanical systems with nonholonomic constraints depending on a small parameter are considered. It is assumed that when the value of this parameter is zero, the constraints of such a system become integrable; i.e., in this case, we have a family of holonomic systems depending on several arbitrary integration constants. We will assume that these holonomic systems are completely integrable Hamiltonian systems. When the small parameter is not zero, the behavior of such systems can be considered with the help of asymptotic methods representing their motion as a combination of the motion of a slightly modified holonomic system with slowly varying previous integration constants (the transgression effect). In this paper, we describe the transgression effect in the problem of motion of an almost holonomic pendulum.