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