Geodesic
Dynamics of Chaplygin sleigh on a horizontal plane with friction
Vestnik Moskovskogo universiteta. Matematika, mehanika, no. 1 (2020), pp. 48-55

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The equations of motion of the Chaplygin sleigh on a horizontal plane with friction are obtained in this paper. A geometric interpretation of the continuous motion is presented; it is proved that the movement of the sleigh stops in a finite time. 
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     author = {A. Yu. Shamin},
     title = {Dynamics of {Chaplygin} sleigh on a horizontal plane with friction},
     journal = {Vestnik Moskovskogo universiteta. Matematika, mehanika},
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}
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A. Yu. Shamin. Dynamics of Chaplygin sleigh on a horizontal plane with friction. Vestnik Moskovskogo universiteta. Matematika, mehanika, no. 1 (2020), pp. 48-55. http://geodesic.mathdoc.fr/item/VMUMM_2020_1_a6/