Geodesic
On the Routh sphere
Russian journal of nonlinear dynamics, Tome 8 (2012) no. 3, pp. 569-583

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We discuss an embedding of the vector field associated with the nonholonomic Routh sphere in subgroup of the commuting Hamiltonian vector fields associated with this system. We prove that the corresponding Poisson brackets are reduced to canonical ones in the region without of homoclinic trajectories.
Keywords: nonholonomic mechanics, Routh sphere
Mots-clés : Poisson brackets. 
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     author = {Ivan A. Bizyaev and Andrey V. Tsiganov},
     title = {On the {Routh} sphere},
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     number = {3},
     year = {2012},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/ND_2012_8_3_a10/}
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Ivan A. Bizyaev; Andrey V. Tsiganov. On the Routh sphere. Russian journal of nonlinear dynamics, Tome 8 (2012) no. 3, pp. 569-583. http://geodesic.mathdoc.fr/item/ND_2012_8_3_a10/