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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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/

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