Geodesic
Rolling of a rigid body without slipping and spinning: kinematics and dynamics
Russian journal of nonlinear dynamics, Tome 8 (2012) no. 4, pp. 783-797

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In this paper we investigate various kinematic properties of rolling of one rigid body on another both for the classical model of rolling without slipping (the velocities of bodies at the point of contact coincide) and for the model of rubber-rolling (with the additional condition that the spinning of the bodies relative to each other be excluded). Furthermore, in the case where both bodies are bounded by spherical surfaces and one of them is fixed, the equations of motion for a moving ball are represented in the form of the Chaplygin system. When the center of mass of the moving ball coincides with its geometric center, the equations of motion are represented in conformally Hamiltonian form, and in the case where the radii of the moving and fixed spheres coincides, they are written in Hamiltonian form.
Keywords: rolling without slipping, nonholonomic constraint, Chaplygin system, conformally Hamiltonian system. 
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     title = {Rolling of a rigid body without slipping and spinning: kinematics and dynamics},
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Alexey V. Borisov; Ivan S. Mamaev; Dmitrii V. Treschev. Rolling of a rigid body without slipping and spinning: kinematics and dynamics. Russian journal of nonlinear dynamics, Tome 8 (2012) no. 4, pp. 783-797. http://geodesic.mathdoc.fr/item/ND_2012_8_4_a7/