Related papers: Chaplygin ball over a fixed sphere: explicit integ…
Borisov, Mamaev and Kilin have recently found certain Poisson structures with respect to which the reduced and rescaled systems of certain non-holonomic problems, involving rolling bodies without slipping, become Hamiltonian, the…
We consider the motion of rigid bodies in a potential fluid subject to certain nonholonomic constraints and show that it is described by Euler--Poincar\'e--Suslov equations. In the 2-dimensional case, when the constraint is realized by a…
A discrete theory for implicit nonholonomic Lagrangian systems undergoing elastic collisions is developed. It is based on the discrete Lagrange-d'Alembert-Pontryagin variational principle and the dynamical equations thus obtained are the…
In this paper, we consider the hamiltonian formulation of nonholonomic systems with symmetries and study several aspects of the geometry of their reduced almost Poisson brackets, including the integrability of their characteristic…
A widely used mathematical model for the bouncing motion of an ideally elastic ball -- referred to in previous work by the first two authors and collaborators as a {\em no-slip billiard} system -- exhibits some notable dynamical behavior…
We produce examples of solutions to the non-abelian gravitating vortex equations, which are a dimensional reduction of the K\"aher-Yang-Mills- Higgs equations. These are equations for a K\"ahler metric and a metric on a vector bundle. We…
We consider coupled nonholonomic LR systems on the product of Lie groups. As examples, we study $n$-dimensional variants of the spherical support system and the rubber Chaplygin sphere. For a special choice of the inertia operator, it is…
We mimic the stochastic Hamiltonian reduction of Lazaro-Cami and Ortega [17, 18] for the case of certain non-holonomic systems with symmetries. Using the non-holonomic connection it is shown that the drift of the stochastically perturbed…
We aim to completely formalize the rough topological analysis of integrable Hamiltonian systems admitting analytical solutions such that the initial phase variables along with the time derivatives of the auxiliary variables are expressed as…
We discuss an extension of the Hamilton-Jacobi theory to nonholonomic mechanics with a particular interest in its application to exactly integrating the equations of motion. We give an intrinsic proof of a nonholonomic analogue of the…
This paper studies hamiltonization of nonholonomic systems using geometric tools. By making use of symmetries and suitable first integrals of the system, we explicitly define a global 2-form for which the gauge transformed nonholonomic…
In this paper we investigate gravitationally bound, spherically symmetric equilibrium configurations consisting of ordinary (polytropic) matter nonminimally coupled to an external chameleon scalar field. We show that this system has static,…
We consider the problem of integrability of the Poisson equations describing spatial motion of a rigid body in the classical nonholonomic Suslov problem. We obtain necessary conditions for their solutions to be meromorphic and show that…
The kinetic term of the $N$-body Hamiltonian system defined on the surface of the sphere is non-separable. As a result, standard explicit symplectic integrators are inapplicable. We exploit an underlying hierarchy in the structure of the…
In this paper we study Chaplygin's Reducibility Theorem and extend its applicability to nonholonomic systems with symmetry described by the Hamilton-Poincare-d'Alembert equations in arbitrary degrees of freedom. As special cases we extract…
We discuss an embedding of a vector field for the nonholonomic Routh sphere into a subgroup of commuting Hamiltonian vector fields on six dimensional phase space. The corresponding Poisson brackets are reduced to the canonical Poisson…
We obtain a system for the spatial metric and extrinsic curvature of a spacelike slice that is hyperbolic non-strict in the sense of Leray and Ohya and is equivalent to the Einstein equations. Its characteristics are the light cone and the…
We study the class of nonholonomic mechanical systems formed by a heavy symmetric ball that rolls without sliding on a surface of revolution, which is either at rest or rotates about its (vertical) figure axis with uniform angular velocity.…
A steady state (or equilibrium point) of a dynamical system is hyperbolic if the Jacobian at the steady state has no eigenvalues with zero real parts. In this case, the linearized system does qualitatively capture the dynamics in a small…
We study inhomogeneous non-strictly hyperbolic systems of two equations, which are a formal generalization of the transformed one-dimensional Euler-Poisson equations. For such systems, a complete classification of the behavior of the…