Using the nonholonomic exponential map, we generalize the well-known family of Newmark methods for nonholonomic systems. We give numerical examples including a test problem where the structure of reversible integrability responsible for good energy behaviour as described in [16] is lost. We observe that the composition of two Newmark methods is able to produce good energy behaviour on this test problem.

翻译：使用非蛋白质组指数映射图,我们推广了非蛋白质组系统众所周知的Newmark方法组。我们给出了数字例子,包括一个测试问题,其中损失了[16]中描述的对良好的能源行为负有责任的可逆性内衣结构。我们观察到,两种新马克方法的构成能够在这个测试问题上产生良好的能源行为。