Hamiltonization and geometric integration of nonholonomic systems

In this paper we study a Hamiltonization procedure for me-chanical systems with velocity-depending (nonholonomic) constraints. We first rewrite the nonholonomic equations of motion as Euler-Lagrange equations, with a Lagrangian that follows from rephrasing the issue in terms of the inverse problem of Lagrangian mechanics. Second, the Legendre transformation transforms the Lagrangian in the sought-for Hamiltonian. As an application, we compare some varia-tional integrators for the new Lagrangians with some known nonholonomic integrators