Geodesic
The dynamics of the Chaplygin ball with a fluid-filled cavity
Russian journal of nonlinear dynamics, Tome 8 (2012) no. 1, pp. 103-111

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We consider the problem of rolling of a ball with an ellipsoidal cavity filled with an ideal fluid, which executes a uniform vortex motion, on an absolutely rough plane. We point out the case of existence of an invariant measure and show that there is a particular case of integrability under conditions of axial symmetry
Mots-clés : vortex motion
Keywords: non-holonomic constraint, Chaplygin ball, invariant measure, integrability, rigid body, ideal fluid. 
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A. V. Borisov; I. S. Mamaev. The dynamics of the Chaplygin ball with a fluid-filled cavity. Russian journal of nonlinear dynamics, Tome 8 (2012) no. 1, pp. 103-111. http://geodesic.mathdoc.fr/item/ND_2012_8_1_a6/