@article{ND_2006_2_4_a5,
     author = {A. V. Borisov and I. S. Mamaev},
     title = {Rolling of a heterotgeneous ball over a sphere without sliding and spinning},
     journal = {Russian journal of nonlinear dynamics},
     pages = {445--452},
     publisher = {mathdoc},
     volume = {2},
     number = {4},
     year = {2006},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/ND_2006_2_4_a5/}
}