Geodesic
On the motion of a mechanical system inside a rolling ball
Russian journal of nonlinear dynamics, Tome 9 (2013) no. 1, pp. 51-58

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We consider a mechanical system inside a rolling ball and show that if the ideal constraints have spherical symmetry, the equations of motion have a Lagrangian form. Without symmetry, this is not true.
Keywords: nonholonomic constraint, rolling ball, Hamilton principle.
Mots-clés : Lagrange equations 
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Sergey V. Bolotin; Tatiana V. Popova. On the motion of a mechanical system inside a rolling ball. Russian journal of nonlinear dynamics, Tome 9 (2013) no. 1, pp. 51-58. http://geodesic.mathdoc.fr/item/ND_2013_9_1_a4/