|Authors:||Jovanović, Božidar||Title:||Rolling balls over spheres in R<sup>n</sup>||Journal:||Nonlinearity||Volume:||31||Issue:||9||First page:||4006||Last page:||4030||Issue Date:||25-Jul-2018||Rank:||M21||ISSN:||0951-7715||DOI:||10.1088/1361-6544/aac75c||Abstract:||
We study the rolling of the Chaplygin ball inRn over a fxed (n - 1)-dimensional sphere without slipping and without slipping and twisting. The problems can be naturally considered within a framework of appropriate modifcations of the L + R and LR systems-well known systems on Lie groups with an invariant measure. In the case of the rolling without slipping and twisting, we describe the SO(n)-Chaplygin reduction to Sn-1 and prove the Hamiltonization of the reduced system for a special inertia operator.
|Keywords:||Chaplygin Hamiltonization | invariant measure | Nonholonomic systems||Publisher:||London Mathematical Society||Project:||Geometry and Topology of Manifolds, Classical Mechanics and Integrable Dynamical Systems|
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