Higher order mechanics on graded bundles
  In this paper we develop a geometric approach to higher order mechanics on graded bundles in both, the Lagrangian and Hamiltonian formalism, via the recently discovered weighted algebroids. We present the corresponding Tulczyjew triple for this higher order situation and derive in this framework the phase equations from an arbitrary (also singular) Lagrangian or Hamiltonian, as well as the Euler-Lagrange equations. As important examples, we geometrically derive the classical higher order Euler-Lagrange equations and analogous reduced equations for invariant higher order Lagrangians on Lie groupoids. 
Andrew James Bruce, Katarzyna Grabowska, Janusz Grabowski
math-ph math.DG math.MP