Cotangent bundle reduction and Poincaré–Birkhoff normal forms

In this paper we study a systematic and natural construction of canonical coordinates for the reduced space of a cotangent bundle with a free Lie group action. The canonical coordinates enable us to compute Poincare–Birkhoff normal forms of relative equilibria using standard algorithms. The case of simple mechanical systems with symmetries is studied in detail. As examples we compute Poincare–Birkhoff normal forms for a Lagrangian equilateral triangle configuration of a three-body system with a Morse-type potential and the stretched-out configuration of a double spherical pendulum.