M. Deleon et Dm. Dediego, NONAUTONOMOUS SUBMERSIVE 2ND-ORDER DIFFERENTIAL-EQUATIONS AND LIE SYMMETRIES, International journal of theoretical physics, 33(8), 1994, pp. 1759-1781
We give necessary and sufficient conditions for a nonautonomous second
-order differential equation to be submersive. An application to nonau
tonomous Lagrangian systems is given: the existence of symmetries of t
he Lagrangian permits us to prove that the Euler-Lagrange vector field
is submersive and hence that the motion equations may be simplified.
Our results extend to the nonautonomous case the previous ones obtaine
d by Kossowski and Thompson.