In this work several unconstrained Hamiltonian formulations of con-

strained Hamiltonian systems are considered, i.e. the Hamilton-Dirac equa-

tions, extended Hamiltonian, involution approach and impetus-striction for-

mulation. The resulting systems are integrated with two different symplec-

tic integrators; implicit mid-point method and Lobatto 111 A - B partitioned

Runge-Kutta method. The numerical results obtained are compared with re-

spect to Hamiltonian, position and momentum preservation.
 

Keywords : Holonomic constraints, Hamiltonian systems, Hamilton-Dirac equa-

tions, impetus-striction formulation