The Lagrange-Poincar\'e equations for a mechanical system with symmetry   on the principal fiber bundle over the base represented by the bundle space   of the associated bundle
  The Lagrange--Poincar\'{e} equations for a mechanical system which describes the interaction of two scalar particles that move on a special Riemannian manifold, consisting of the product of two manifolds, the total space of a principal fiber bundle and the vector space, are obtained. The derivation of equations is performed by using the variational principle developed by Poincar\'e for the mechanical systems with a symmetry. The obtained equations are written in terms of the dependent variables which, as in gauge theories, are implicitly determined by means of equations representing the local sections of the principal fiber bundle. 
S. N. Storchak
math-ph math.MP