Related papers: Rolling balls over spheres in R^n
We introduce orthogonal ring patterns in the 2-sphere and in the hyperbolic plane, consisting of pairs of concentric circles, which generalize circle patterns. We show that their radii are described by a discrete integrable system. This is…
We develop a framework for dealing with smooth approximations to billiards with corners in the two-dimensional setting. Let a polygonal trajectory in a billiard start and end up at the same billiard's corner point. We prove that smooth…
The problem of a disc and a ball rolling on a horizontal plane without slipping is considered. Differential constrained equations are shown to be integrated when the trajectory of the point of contact is taken in a form of the natural…
We establish three circles theorems for subharmonic functions on Riemannian manifolds with nonnegative Ricci curvature, as well as on gradient shrinking Ricci solitons with scalar curvature bounded from below by $\frac{n-2}{2}$. We also…
We study fixed assemblies of touching spheres that can individually rotate. From any initial state, sliding friction drives an assembly toward a slip-free rotation state. For bipartite assemblies, which have only even loops, this state has…
Motion control of underactuated systems through the inverse dynamics contains configuration singularities. These limitations in configuration space mainly stem from the inertial coupling that passive joints/bodies create. In this study, we…
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…
An iterative method is presented for solving the problem of a uniformly rotating, self-gravitating ring without a central body in Newtonian gravity by expanding about the thin ring limit. Using this method, a simple formula relating mass to…
A unified algebraic construction of the classical Smorodinsky-Winternitz systems on the ND sphere, Euclidean and hyperbolic spaces through the Lie groups SO(N+1), ISO(N), and SO(N,1) is presented. Firstly, general expressions for the…
We present a full geometric characterization of the $1$-dimensional (semialgebraic) images $S$ of either $n$-dimensional closed balls $\overline{\mathcal B}_n\subset{\mathbb R}^n$ or $n$-dimensional spheres ${\mathbb S}^n\subset{\mathbb…
We prove convergence for the nonoverlapping Robin-Robin method applied to nonlinear elliptic equations with a $p$-structure, including degenerate diffusion equations governed by the $p$-Laplacian. This nonoverlapping domain decomposition is…
We numerically analyse the rotation of a neutrally buoyant spheroid in a shear flow at small shear Reynolds number. Using direct numerical stability analysis of the coupled nonlinear particle-flow problem we compute the linear stability of…
This paper investigates the motion of a rotating test body in the Schwarzschild space-time. After reduction, this problem reduces to an analysis of a three-degree-of-freedom. Hamiltonian system whose desired trajectories lie on the…
This paper extends sliding-mode control theory to nonlinear systems evolving on smooth manifolds. Building on differential geometric methods, we reformulate Filippov's notion of solutions, characterize well-defined vector fields on quotient…
We study geodesics on hypersurfaces close to the standard (n-1)-dimensional sphere in n-dimensional Euclidean space. Following Poincar\'e, we treat the problem within the framework of the analytical mechanics, and employ the perturbation…
Several scenarios used in teaching feature a rolling motion with slipping that transitions to one without through friction with the ground. We summarise these transitions by introducing an unknown impulse that is transferred to the ground.…
The general framework for integrable discrete systems on R in particular containing lattice soliton systems and their q-deformed analogues is presented. The concept of regular grain structures on R, generated by discrete one-parameter…
We show the existence of drifting orbits for certain perturbations of non-convex Hamiltonian systems with several degrees of freedom. These orbits remain in the vicinity of resonant surfaces where the action variables can undergo changes…
In this paper we derive Hamel equations for the motion of nonholonomic systems subject to inequality constraints in quasivelocities. As examples, the vertical rolling disk hitting a wall and the Chaplygin sleigh with a knife edge constraint…
Problems involving rolling without slipping or no sideways skidding, to name a few, introduce velocity-dependent constraints that can be efficiently treated by the method of Lagrange multipliers in the Lagrangian formulation of the…