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2013
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    On the motion of a mechanical system inside a rolling ball

    2013, Vol. 9, No. 1, pp.  51-58

    Author(s): 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
    DOI:10.20537/nd1301005


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