Modern geometric approaches to analytical mechanics rest on a bundle structure of the configuration space. The connection on this bundle allows for an intrinsic splitting of the reduced Euler-Lagrange equations. Hamel's equations, on the other hand, provide a universal approach to non-holonomic mechanics in local coordinates. The link between Hamel's formulation and geometric approaches in local coordinates has not been discussed sufficiently. The reduced Euler-Lagrange equations as well as the curvature of the connection, are derived with Hamel's original formalism. Intrinsic splitting into Euler-Lagrange and Euler-Poincare equations, and inertial decoupling is achieved by means of the locked velocity. Various aspects of this method are discussed.

翻译：现代分析力学的几何方法建立在构型空间的纤维丛结构之上。该纤维丛上的联络能够实现约化欧拉-拉格朗日方程的内在分裂。而Hamel方程为非完整力学提供了局部坐标下的普适性方法。Hamel公式与局部坐标下几何方法之间的关联尚未得到充分讨论。本文利用Hamel原始形式推导了约化欧拉-拉格朗日方程及联络的曲率。通过锁定速度方法实现了欧拉-拉格朗日方程与欧拉-庞加莱方程的内在分裂，以及惯性解耦。本文讨论了该方法的多个方面。