Criteria of chaos in non-linear mechanics

Analytical criteria are derived for the geometrical interpretation (Zak, 1985) of the transition to chaos in nonlinear mechanical systems. The concept of orbital instability in configuration space is employed in the analysis, and the differences between chaotic instability and classical Liapunov instability are explored. The case of a symmetric rigid body rotating about its center of gravity is considered as an example, and the applicability of the present approach to noninertial motion or to continua is discussed.