Variational integrators for hamiltonizable nonholonomic systems

We report on new applications of the Poincare and Sundman time transformations to the simulation of nonholonomic systems. These transformations are here applied to nonholonomic mechanical systems known to be Hamiltonizable (briey, nonholonomic systems whose constrained mechanics are Hamiltonian after a suitable time reparameterization). We show how such an application permits the usage of variational integrators for these nonvariational mechanical systems. Examples are given and numerical results are compared to the standard nonholonomic integrator results.