Geodesic
On the absolute dynamics of the Chaplygin ball
Russian journal of nonlinear dynamics, Tome 9 (2013) no. 4, pp. 711-719

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We discuss an application of the Lie integrability theorem to the nonholonomic system describing the rolling of a dynamically balanced ball on horizontal absolutely rough table without slipping or sliding.
Keywords: nonholonomic mechanics, integrable systems, Poisson geometry. 
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     author = {Andrey V. Tsiganov},
     title = {On the absolute dynamics of the {Chaplygin} ball},
     journal = {Russian journal of nonlinear dynamics},
     pages = {711--719},
     publisher = {mathdoc},
     volume = {9},
     number = {4},
     year = {2013},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/ND_2013_9_4_a7/}
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Andrey V. Tsiganov. On the absolute dynamics of the Chaplygin ball. Russian journal of nonlinear dynamics, Tome 9 (2013) no. 4, pp. 711-719. http://geodesic.mathdoc.fr/item/ND_2013_9_4_a7/