Geodesic
Topological analysis of the motion of an ellipsoid on a~smooth plane
Sbornik. Mathematics, Tome 199 (2008) no. 6, pp. 871-890

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The problem of the motion of a dynamically and geometrically symmetric heavy ellipsoid on a smooth horizontal plane is investigated. The problem is integrable and can be considered a generalization of the problem of motion of a heavy rigid body with fixed point in the Lagrangian case. The Smale bifurcation diagrams are constructed. Surgeries of tori are investigated using methods developed by Fomenko and his students. Bibliography: 9 titles. 
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     title = {Topological analysis of the motion of an ellipsoid on a~smooth plane},
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M. Yu. Ivochkin. Topological analysis of the motion of an ellipsoid on a~smooth plane. Sbornik. Mathematics, Tome 199 (2008) no. 6, pp. 871-890. http://geodesic.mathdoc.fr/item/SM_2008_199_6_a3/