Geodesic
Two non-holonomic integrable systems of coupled rigid bodies
Russian journal of nonlinear dynamics, Tome 7 (2011) no. 3, pp. 559-568.

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The paper considers two new integrable systems due to Chaplygin, which describe the rolling of a spherical shell on a plane, with a ball or Lagranges gyroscope inside. All necessary first integrals and an invariant measure are found. The reduction to quadratures is given.
Keywords: non-holonomic constraint; integrability; invariant measure; gyroscope; quadrature; coupled rigid bodies. 
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A. V. Borisov; I. S. Mamaev. Two non-holonomic integrable systems of coupled rigid bodies. Russian journal of nonlinear dynamics, Tome 7 (2011) no. 3, pp. 559-568. http://geodesic.mathdoc.fr/item/ND_2011_7_3_a10/

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