This article is cited in 12 papers

On the Motion of a Mechanical System Inside a Rolling Ball

S. V. Bolotin^ab, T. V. Popova<sup>c

a</sup> University of Wisconsin–Madison, 480 Lincoln Dr., Madison, WI 53706-1325, USA
^b V. A. Steklov Mathematical Institute of Russian Academy of Sciences, Gubkina 8, Moscow, 119991 Russia
^c M. V. Lomonosov Moscow State University, Leninskie Gory 1, Moscow, 119991 Russia

Abstract: 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.

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

MSC: 37J60, 70H03, 70E18

Received: 12.12.2012
Accepted: 16.01.2013

Language: English

DOI: 10.1134/S1560354713010115

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