Related papers: Rolling balls over spheres in R^n
We study the rolling motion of a small solid sphere on a surface patterned rubber substrate in an external field with and without a noise. In the absence of the noise, the ball does not move below a threshold force above which it…
Louis Poinsot has shown in 1854 that the motion of a rigid body, with one of its points fixed, can be described as the rolling without slipping of one cone, the 'body cone', along another, the 'space cone', with their common vertex at the…
Billiard systems, broadly speaking, may be regarded as models of mechanical systems in which rigid parts interact through elastic impulsive (collision) forces. When it is desired or necessary to account for linear/angular momentum exchange…
We consider nonholonomic systems whose configuration space is the central extension of a Lie group and have left invariant kinetic energy and constraints. We study the structure of the associated Euler-Poincare-Suslov equations and show…
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…
If $(M,g)$ and $(\hM,\hg)$ are two smooth connected complete oriented Riemannian manifolds of dimensions $n$ and $\hn$ respectively, we model the rolling of $(M,g)$ onto $(\hM,\hg)$ as a driftless control affine systems describing two…
In this paper, we develop the Chaplygin reducing multiplier method; using this method, we obtain a conformally Hamiltonian representation for three nonholonomic systems, namely, for the nonholonomic oscillator, for the Heisenberg system,…
The system of falling balls is an autonomous Hamiltonian system with a smooth invariant measure and non-zero Lyapunov exponents almost everywhere. For almost three decades new, the question of its ergodicity remains open. We contribute to…
A well-known and interesting family of sub-Riemannian space are the systems involving two balls rolling against each other without slipping or twisting. In this note, we show how the sub-Riemannian geodesics of these space, when the two…
The dynamics of a spherical body with a non-uniform mass distribution rolling on a plane were discussed by Sergey Chaplygin, whose 150th anniversary we celebrate this year. The Chaplygin top is a non-integrable system, with a colourful…
The paper deals with the problem of integration of equations of motion in nonholonomic systems. By means of well-known theory of the differential equations with an invariant measure the new integrable systems are discovered. Among them…
We discuss the rolling, without slip and without twist, of Stiefel manifolds equipped with $\alpha$-metrics, from an intrinsic and an extrinsic point of view. We, however, start with a more general perspective, namely by investigating…
An analytical method is presented for treating the problem of a uniformly rotating, self-gravitating ring without a central body in Newtonian gravity. The method is based on an expansion about the thin ring limit, where the cross-section of…
In this paper we study the gradient Ricci shrinking soliton equation on rotationally symmetric manifolds of dimension three and higher and prove that the only complete examples of such metrics on $S^n$, $\R{n}$ and $\R{}\times S^{n-1}$ are,…
The classical Smorodinsky-Winternitz systems on the ND sphere, Euclidean and hyperbolic spaces S^N, E^N and H^N are simultaneously approached starting from the Lie algebras so_k(N+1), which include a parametric dependence on the curvature…
We derive a collisionless kinetic theory for an ensemble of molecules undergoing nonholonomic rolling dynamics. We demonstrate that the existence of nonholonomic constraints leads to problems in generalizing the standard methods of…
In the present paper we give a historical account -ranging from classical to modern results- of the problem of rolling two Riemannian manifolds one on the other, with the restrictions that they cannot instantaneously slip or spin one with…
The Chaplygin sleigh is a classic example of a nonholonomically constrained mechanical system. The sleigh's motion always converges to a straight line whose slope is entirely determined by the initial configuration and velocity of the…
The system of falling balls is an autonomous Hamiltonian system with a smooth invariant measure and non-zero Lyapunov exponents almost everywhere. Since almost three decades, the question of ergodicity is still open. The subject of this…
In this article, we investigate the regularity for certain elliptic systems without a $L^2$-antisymmetric structure. As applications, we prove some $\epsilon$-regularity theorems for weakly harmonic maps from the unit ball $B= B(m) \subset…