Geometrization of the Chaplygin reducing-multiplier theorem
2013, Vol. 9, No. 4, pp. 627-640
Author(s): Bolsinov A. V., Borisov A. V., Mamaev I. S.
This paper develops the theory of the reducing multiplier for a special class of nonholonomic dynamical systems, when the resulting nonlinear Poisson structure is reduced to the Lie–Poisson bracket of the algebra $e(3)$. As an illustration, the Chaplygin ball rolling problem and the Veselova system are considered. In addition, an integrable gyrostatic generalization of the Veselova system is obtained.
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