Geodesic
The dynamical model of the rolling friction of spherical bodies on a plane without slipping
Russian journal of nonlinear dynamics, Tome 13 (2017) no. 4, pp. 599-609

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In this paper the model of rolling of spherical bodies on a plane without slipping is presented taking into account viscous rolling friction. Results of experiments aimed at investigating the influence of friction on the dynamics of rolling motion are presented. The proposed dynamical friction model for spherical bodies is verified and the limits of its applicability are estimated. A method for determining friction coefficients from experimental data is formulated.
Keywords: rolling friction, dynamical model, spherical body, nonholonomic model, experimental investigation. 
@article{ND_2017_13_4_a11,
     author = {Yu. L. Karavaev and A. V. Klekovkin and A. A. Kilin},
     title = {The dynamical model of the rolling friction of spherical bodies on a plane without slipping},
     journal = {Russian journal of nonlinear dynamics},
     pages = {599--609},
     publisher = {mathdoc},
     volume = {13},
     number = {4},
     year = {2017},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/ND_2017_13_4_a11/}
}
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Yu. L. Karavaev; A. V. Klekovkin; A. A. Kilin. The dynamical model of the rolling friction of spherical bodies on a plane without slipping. Russian journal of nonlinear dynamics, Tome 13 (2017) no. 4, pp. 599-609. http://geodesic.mathdoc.fr/item/ND_2017_13_4_a11/