The Geometry of Systems of Third Order Differential Equations Induced by Second Order Regular Lagrangians

A system of third order differential equations, whose coefficients do not depend explicitly on time, can be viewed as a third order vector field, which is called a semispray, and lives on the second order tangent bundle. We prove that a regular second order Lagrangian induces such a semispray, which is uniquely determined by two associated Poincaré-Cartan one-forms. To study the geometry of this semispray, we construct a horizontal distribution, which is a Lagrangian subbundle for an associated Poincaré-Cartan two-form. Using this semispray and the associated nonlinear connection we define dynamical covariant derivatives of first and second order. With respect to this, the second order dynamical derivative of the Lagrangian metric tensor vanishes.