Geodesic
Chaplygin's Ball Rolling Problem Is Hamiltonian
Matematičeskie zametki, Tome 70 (2001) no. 5, pp. 793-795

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@article{MZM_2001_70_5_a14,
     author = {A. V. Borisov and I. S. Mamaev},
     title = {Chaplygin's {Ball} {Rolling} {Problem} {Is} {Hamiltonian}},
     journal = {Matemati\v{c}eskie zametki},
     pages = {793--795},
     publisher = {mathdoc},
     volume = {70},
     number = {5},
     year = {2001},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/MZM_2001_70_5_a14/}
}
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A. V. Borisov; I. S. Mamaev. Chaplygin's Ball Rolling Problem Is Hamiltonian. Matematičeskie zametki, Tome 70 (2001) no. 5, pp. 793-795. http://geodesic.mathdoc.fr/item/MZM_2001_70_5_a14/