An inhomogeneous Chaplygin sleigh
2017, Vol. 13, No. 4, pp. 625–639
Author(s): Borisov A. V., Mamaev I. S.
In this paper we investigate the dynamics of a system that is a generalization of the Chaplygin sleigh to the case of an inhomogeneous nonholonomic constraint. We perform an explicit integration and a sufficiently complete qualitative analysis of the dynamics.
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