Authors: Fedorov, Yuri
Jovanović, Božidar 
Affiliations: Mathematical Institute of the Serbian Academy of Sciences and Arts 
Title: Quasi-Chaplygin systems and nonholonimic rigid body dynamics
Journal: Letters in Mathematical Physics
Volume: 76
Issue: 2-3
First page: 215
Last page: 230
Issue Date: 1-Jan-2006
Rank: M22
ISSN: 0377-9017
DOI: 10.1007/s11005-006-0069-3
Abstract: 
We show that the Suslov nonholonomic rigid body problem studied in by Fedorov and Kozlov (Am. Math. Soc. Transl. Ser. 2 168:141-171, 1995), Jovanovic (Reg. Chaot. Dyn. 8(1):125-132, 2005), and Zenkov and Bloch (J. Geom. Phys. 34 (2):121-136, 2000) can be regarded almost everywhere as a generalized Chaplygin system. Furthermore, this provides a new example of a multidimensional nonholonomic system which can be reduced to a Hamiltonian form by means of Chaplygin reducing multiplier. Since we deal with Chaplygin systems in the local sense, the invariant manifolds of the integrable examples are not necessary tori.
Keywords: Chaplygin reducing multiplier | Integrable nonholonomic systems | Suslov problem | Topology of invariant manifolds
Publisher: Springer Link
Project: Spanish Ministry of Science and Technology, Grant BFM 2003-09504-C02-02
Serbian Ministry of Science, Project “Geometry and Topology of Manifolds and Integrable Dynamical Systems”

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