This article is cited in 3 papers

On the motion of a mechanical system inside a rolling ball

Sergey V. Bolotin^a, Tatiana V. Popova<sup>b

a</sup> Steklov Mathematical Institute of the Russian Academy of Sciences, Moscow, Russia
^b M. V. Lomonosov Moscow State University, Moscow, Russia

Abstract: We consider a mechanical system inside a rolling ball and show that if the ideal constraints have spherical symmetry, the equations of motion have a Lagrangian form. Without symmetry, this is not true.

Keywords: nonholonomic constraint, rolling ball, Lagrange equations, Hamilton principle.

UDC: 531.36

MSC: 37J60, 37J35, 70E18

Received: 30.03.2012
Revised: 21.11.2012