Dynamics and symmetry for constrained systems:a geometrical analysis

This is a very interesting and well-written expository paper on the Hamiltonian formulation for constrained systems and its symmetry from the geometrical point of view. Coordinate-free and coordinate-based methods are both used throughout the paper, making both geometrical and physical concepts transparent. The paper is divided into two parts. Part I is devoted to dynamics while part II deals with symmetries, and contains three appendices where some calculations and proofs are exhibited. Both the mathematically as well as the physically inclined reader will certainly find enough motivation to read this paper