Abstract
The paper illustrates a geometric approach to Lagrangian mechanics for nonholonomic constrained systems with a nonconservative force field. We first demonstrate a regular Lagrangian system for a conservative mechanical system in the context of variational principle of Hamilton and also that a nonholonomic mechanical system can be formulated on the tangent bundle of a configuration manifold by using Lagrange multipliers in the context of the induced symplectic structure. Then, we illustrate the case with a nonconservative force field and we finally show an intrinsic formulation of a nonconservative mechanical system with nonholonomic constraints by Lagrange-d'Alembert principle.
