The ubiquity of the symplectic hamiltonian equations in mechanics
  In this paper, we derive a "hamiltonian formalism" for a wide class of mechanical systems, including classical hamiltonian systems, nonholonomic systems, some classes of servomechanism... This construction strongly relies in the geometry characterizing the different systems. In particular, we obtain that the class of the so-called algebroids covers a great variety of mechanical systems. Finally, as the main result, a hamiltonian symplectic realization of systems defined on algebroids is obtained. 
P. Balseiro, M. de Leon, J.C. Marrero, D. Martin de Diego