Geodesic
Force interaction simulation for the motion of a spherical segment on a spherical surface with friction
Vestnik Moskovskogo universiteta. Matematika, mehanika, no. 1 (2015), pp. 45-50
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The problem of motion of a spherical segment on the inner surface of a hemisphere with dry friction is studied. A number of expressions for the pressure density coefficients are obtained in the case when this density depends linearly on coordinates. These coefficients are determined for the special cases of sliding or rotation and are used to derive expressions for forces and moments. 
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     author = {A. A. Zhulidova},
     title = {Force interaction simulation for the motion of a spherical segment on a spherical surface with friction},
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A. A. Zhulidova. Force interaction simulation for the motion of a spherical segment on a spherical surface with friction. Vestnik Moskovskogo universiteta. Matematika, mehanika, no. 1 (2015), pp. 45-50. http://geodesic.mathdoc.fr/item/VMUMM_2015_1_a7/

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