Geodesic
An inhomogeneous Chaplygin sleigh
Russian journal of nonlinear dynamics, Tome 13 (2017) no. 4, pp. 625-639.

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In this paper we investigate the dynamics of a system that is a generalization of the Chaplygin sleigh to the case of an inhomogeneous nonholonomic constraint. We perform an explicit integration and a sufficiently complete qualitative analysis of the dynamics.
Keywords: Chaplygin sleigh, inhomogeneous nonholonomic constraints, conservation laws, qualitative analysis, resonance. 
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A. V. Borisov; I. S. Mamaev. An inhomogeneous Chaplygin sleigh. Russian journal of nonlinear dynamics, Tome 13 (2017) no. 4, pp. 625-639. http://geodesic.mathdoc.fr/item/ND_2017_13_4_a13/

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