Related papers: Rolling balls over spheres in R^n
We study in this work the dynamics of a collection of identical hollow spheres (ping-pong balls) that rest on a horizontal metallic grid. Fluidization is achieved by means of a turbulent air current coming from below. The upflow is adjusted…
This article illustrates the role of friction on the motion of a rolling sphere on pedagogical example. We use a parabolic support rotating around it axis to study the static equilibrium positions of a single sphere. Due to the particular…
We study a rolling model from the perspective of probability. More precisely, we consider a Riemannian manifold rolling against Euclidean space, where the rolling is coupled with random slipping and twisting. The system is modelled by a…
In this paper, the dynamics of nonholonomic systems on Lie groups with a left-invariant kinetic energy and left-invariant constraints are considered. Equations of motion form a closed system of differential equations on the corresponding…
The problem on rolling of a sphere on a plane without slipping or twisting is considered. One should roll the sphere from one contact configuration to another so that the length of the curve traced by the contact point in the plane was the…
We consider the motion of a planar rigid body in a potential flow with circulation and subject to a certain nonholonomic constraint. This model is related to the design of underwater vehicles. The equations of motion admit a reduction to a…
Given a submersion $\pi:Q \to M$ with an Ehresmann connection $\mathcal{H}$, we describe how to solve Hamiltonian systems on $M$ by lifting our problem to $Q$. Furthermore, we show that all solutions of these lifted Hamiltonian systems can…
This paper proposes a Lagrangian approach to find the state equations of a disk rolling on a plane without friction. The approach takes advantage of a symbolic computation to simplify the reasoning.
A pair of planar polygons is "dancing" if one is inscribed in the other and they satisfy a certain cross-ratio relation at each vertex of the circumscribing polygon. Non-degenerate dancing pairs of closed $n$-gons exist for all $n\geq 6$.…
A direct analog of Hadamard's three-circle theorem is obtained for harmonic functions (in weighted L^2-norm) in case of (n-1)-dimensional non-concentric spheres in R^n. The result extends the concentric case to correlated non-concentric,…
In this thesis Chern-Simons theories based on Lie algebras with invariant metric are constructed. It is discussed how contractions lead systematically to (higher spin) kinematical algebras of, e.g., Poincar\'e, Galilei and Carroll type and…
We reconsider the problem of quantising a particle on the $D$-dimensional sphere. Adopting a Lagrangian method of reducing the degrees of freedom, the quantum Hamiltonian is found to be the usual Schr\"odinger operator without any boundary…
We present an integrable nonholonomic case of rolling without sliding of a gyroscopic ball over a sphere. This case was introduced and studied in detail by Vasilije Demchenko in his 1923 doctoral dissertation defended at the University of…
Affine transformations in Euclidean space generates a correspondence between integrable systems on cotangent bundles to the sphere, ellipsoid and hyperboloid embedded in $R^n$. Using this correspondence and the suitable coupling constant…
We analyze the frictionless motion of a point-like particle that slides under gravity on an inverted conical surface. This motion is studied for arbitrary initial conditions and a general relation, valid within 13%, between the periods of…
This paper applies the recently developed theory of discrete nonholonomic mechanics to the study of discrete nonholonomic left-invariant dynamics on Lie groups. The theory is illustrated with the discrete versions of two classical…
Llarull's theorem characterizes the round sphere $S^n$ among all spin manifolds whose scalar curvature is bounded from below by $n(n-1)$. In this paper we show that if the scalar curvature is bounded from below by $n(n-1)-\varepsilon$, the…
In general relativity, the motion of an extended body moving in a given spacetime can be described by a particle on a (generally non-geodesic) worldline. In first approximation, this worldline is a geodesic of the underlying spacetime, and…
Symmetries are ubiquitous in a wide range of nonlinear systems. Particularly in systems whose dynamics are determined by a Lagrangian or Hamiltonian function. For hybrid systems which possess a continuous-time dynamics determined by a…
We consider systems of "pinned balls," i.e., balls that have fixed positions and pseudo-velocities. Pseudo-velocities change according to the same rules as those for velocities of totally elastic collisions between moving balls. The times…