Leninskie Gory 1, Moscow, 119991 Russia
M.V. Lomonosov Moscow State University
Bolotin S. V., Popova T. V.
On the motion of a mechanical system inside a rolling ball
2013, Vol. 9, No. 1, pp. 51-58
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.