Generalized Livens theorem and constrained Hamiltonian dynamics on   algebroids
  We generalise Livens theorem, showing that Hamiltonian equation on the vector bundle $E^\ast\rightarrow M$, dual to a general algebroid $E\rightarrow M$, can be derived by means of a variational principle. The framework can be used to describe Hamiltonian dynamics associated with (both vaconomic and nonholonomic) constraints in the bundle $E$. 
Michal Jozwikowski
math-ph math.MP