On the motion of a mechanical system inside a rolling ball
We consider a mechanical system inside a rolling ball and show that if the constraints have spherical symmetry, the equations of motion have Lagrangian form. Without symmetry, this is not true.
Keywordsnonholonomic constraint rolling ball Lagrange equations Hamilton principle
MSC2010 numbers37J60 70H03 70E18
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- 3.Chaplygin, S.A., On Some Generalization of the Area Theorem with Applications to the Problem of Rolling Balls, Matematicheskii Sbornik, 1897, Vol. 20. English translation: Regul. Chaotic Dyn., 2012, vol. 17, no. 2, pp. 199–217.Google Scholar