T. Popova

    Leninskie Gory 1, Moscow, 119991 Russia
    M.V. Lomonosov Moscow State University


    Bolotin S. V., Popova T. V.
    We consider a mechanical system inside a rolling ball and show that if the ideal constraints have spherical symmetry, the equations of motion have a Lagrangian form. Without symmetry, this is not true.
    Keywords: nonholonomic constraint, rolling ball, Lagrange equations, Hamilton principle
    Citation: Bolotin S. V., Popova T. V.,  On the motion of a mechanical system inside a rolling ball, Rus. J. Nonlin. Dyn., 2013, Vol. 9, No. 1, pp.  51-58

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