Related papers: The rigid body dynamics: classical and algebro-geo…
The first part of the article is, in fact, the classical Routh method delivered in the language of contemporary theory of Lagrangian systems. But the Routh method deals only with concrete equations and, therefore, can be applied only in the…
Thurston introduced a technique for finding and deforming three-dimensional hyperbolic structures by gluing together ideal tetrahedra. We generalize this technique to study families of geometric structures that transition from hyperbolic to…
A classical approach to the multibody systems (MBS) modeling is to use absolute coordinates, i.e., a set of (possibly redundant) coordinates that describe the absolute position and orientation of the individual bodies with respect to an…
We develop the equations of motion for full body models that describe the dynamics of rigid bodies, acting under their mutual gravity. The equations are derived using a variational approach where variations are defined on the Lie group of…
This article reviews the role of hidden symmetries of dynamics in the study of physical systems, from the basic concepts of symmetries in phase space to the forefront of current research. Such symmetries emerge naturally in the description…
The three-body problem is a fundamental long-standing open problem, with applications in all branches of physics, including astrophysics, nuclear physics and particle physics. In general, conserved quantities allow to reduce the formulation…
We develop a rigorous analytical framework for a coupled stochastic fluid-rigid body system in $\mathbb{R}^3$. The model describes the motion of a rigid ball immersed in an incompressible Newtonian fluid subjected to both additive noise in…
Multibody dynamics simulation plays an important role in various fields, including mechanical engineering, robotics, and biomechanics. Setting up computational models however becomes increasingly challenging as systems grow in size and…
A new slender-body theory for viscous flow, based on the concepts of dimensional reduction and hyperviscous regularization, is presented. The geometry of flat, elongated, or point-like rigid bodies immersed in a viscous fluid is…
Classical (maximal) superintegrable systems in $n$ dimensions are Hamiltonian systems with $2n-1$ independent constants of the motion, globally defined, the maximum number possible. They are very special because they can be solved…
Chaplygin's equations describing the planar motion of a rigid body in an unbounded volume of an ideal fluid involved in a circular flow around the body are considered. Hamiltonian structures, new integrable cases, and partial solutions are…
We discuss Exterior Differential Systems (EDS) for the vacuum gravitational field. These EDS are derived by varying the Hilbert-Einstein Lagrangian, given most elegantly as a Cartan 4-forrm calibrating 4-spaces embedded in ten flat…
This work proposes and investigates a new model of the rotating rigid body based on the non-twisting frame. Such a frame consists of three mutually orthogonal unit vectors whose rotation rate around one of the three axis remains zero at all…
The special interest is devoted to such situations when the material space of our object with affine degrees of freedom has generally lower dimension than the one of the physical space. In other words when we have the $m$-dimensional…
We present a numerical framework for modeling extended hyperelastic bodies based on a Lagrangian formulation of general relativistic elasticity theory. We use finite element methods to discretize the body, then use the semi--discrete action…
A new coordinate system is defined for the Four-Body dynamical problem with general masses, having as its origin of coordinates the center of mass. The transformation from the inertial coordinate system involves a combination of a rotation…
In this paper we study a discrete variational optimal control problem for the rigid body. The cost to be minimized is the external torque applied to move the rigid body from an initial condition to a pre-specified terminal condition.…
We consider the problem of motion of several rigid bodies immersed in a perfect compressible fluid. Using the method of convex integration we establish the existence of infinitely many weak solutions with {\it a priori} prescribed motion of…
We obtain a non-relativistic chiral massive higher-spin gravity in a deformed $AdS_3$ spacetime by applying a Lifshitz deformation and subsequent null reduction to chiral massless higher-spin gravity in $AdS_4$. Intriguingly, the vertices…
The formulation of a rigid body in relativistic quantum mechanics is studied. Departing from an alternate approach at the relativistic classical level, the corresponding Klein-Gordon and Dirac operators for the rigid body are obtained in…