Authors: Gajić, Borislav 
Jovanović, Božidar 
Affiliations: Mathematical Institute of the Serbian Academy of Sciences and Arts 
Title: Two integrable models of rolling balls over a sphere
Journal: Advances in Nonlinear Science
First page: 71
Last page: 71
Conference: International Conference “Scientific Heritage of Sergey A. Chaplygin: nonholonomic mechanics, vortex structures and hydrodynamics, Cheboksary, 2-6 June 2019
Issue Date: 2019
Rank: M30
URL: http://umu.chuvsu.ru/chaplygin2019/docs/TezisChap.pdf
Abstract: 
In this talk we consider the nonholonomic problem of rolling without slipping and twisting of a n-dimensional ball over a fixed (n−1)-dimensional sphere. This is a SO(n)-Chaplygin system with an invariant measure that reduces to the tangent bundle TSn−1. We describe two classes of inertia operators, such that corresponding systems are integrable. In the first class we use the Chaplygin reducing multiplier method, while in the second class we obtain integrability directly — without Hamiltonization.
Publisher: Institute for Computer Science, Moscow - Izhevsk

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