Geodesic
Dynamics of rigid body, carrying moving masses and rotor, on a rough plane
Russian journal of nonlinear dynamics, Tome 8 (2012) no. 4, pp. 763-772.

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We consider a rigid body which moves upon a rough plane by means of displacements of internal masses. To make turns, we change the angular momentum of the rotor. This leads to asymmetry in normal stresses and appearance of vertical momentum of friction forces.
Keywords: dry friction, mobile devices without external drivers. 
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Alexander P. Ivanov; A. V. Sakharov. Dynamics of rigid body, carrying moving masses and rotor, on a rough plane. Russian journal of nonlinear dynamics, Tome 8 (2012) no. 4, pp. 763-772. http://geodesic.mathdoc.fr/item/ND_2012_8_4_a5/

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