Geodesic
Rotatory motion of disk within vertical traveling cylinder
Journal of Samara State Technical University, Ser. Physical and Mathematical Sciences, no. 1 (2007), pp. 176-177.

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We offer the application of N. I. Moiseev averaging method to the equation with two angular coordinates and to the multidimensional mathematical models with nonholonomic constraint. 
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G. V. Pavlov; A. V. Alimov; A. P. Kuptsov. Rotatory motion of disk within vertical traveling cylinder. Journal of Samara State Technical University, Ser. Physical and Mathematical Sciences, no. 1 (2007), pp. 176-177. http://geodesic.mathdoc.fr/item/VSGTU_2007_1_a32/

[1] Borodin V. S., “Dvizhenie diska v rezhime obkatyvaniya podvizhnogo tsilindra”, Vestn. Sam. gos. tekhn. un-ta. Ser.: Fiz. -mat. nauki, 2004, no. 30, 206–208 | DOI

[2] Moiseev N. N., Asimptoticheskie metody nelineinoi mekhaniki, Nauka, M., 1969 | MR | Zbl