Related papers: Chaplygin's sphere
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…
We discuss two polynomial bi-Hamiltonian structures for the generalized integrable Chaplygin system on the sphere S^2 with an additional integral of fourth order in momenta. An explicit procedure to find the variables of separation, the…
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…
Energy is in general not conserved for mechanical nonholonomic systems with affine constraints. In this article we point out that, nevertheless, in certain cases, there is a modification of the energy that is conserved. Such a function…
In this paper, we prove that a two-dimensional self-shrinker, homeomorphic to the sphere, immersed in the three dimensional Euclidean space is a round sphere, provided its mean curvature and the norm of its position vector have an upper…
We analyse the motion of a sphere that rolls without slipping on a conical surface having its axis in the direction of the constant gravitational field of the Earth. This nonholonomic system admits a solution in terms of quadratures. We…
The superintegrability of a rational harmonic oscillator (non-central harmonic oscillator with rational ratio of frequencies) with non-linear "centrifugal" terms is studied. In the first part, the system is directly studied in the Euclidean…
We consider the problem of motion of a rigid body about a fixed point under the action of an axisymmetric combination of potential and gyroscopic forces. We introduce a new integrable case, valid on zero level of the cyclic integral, that…
We study the dynamics of $N$ point vortices on a rotating sphere. The Hamiltonian system becomes infinite dimensional due to the non-uniform background vorticity coming from the Coriolis force. We prove that a relative equilibrium formed of…
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…
The invariance of the Lagrangian under time translations and rotations in Kepler's problem yields the conservation laws related to the energy and angular momentum. Noether's theorem reveals that these same symmetries furnish generalized…
In the paper we present the qualitative analysis of rolling motion without slipping of a homogeneous round disk on a horisontal plane. The problem was studied by S.A. Chaplygin, P. Appel and D. Korteweg who showed its integrability. The…
We consider a class of dynamical systems on a Lie group $G$ with a left-invariant metric and right-invariant nonholonomic constraints (so called LR systems) and show that, under a generic condition on the constraints, such systems can be…
We consider nonholonomic Chaplygin systems and associate to them a $(1,2)$ tensor field on the shape space, that we term the gyroscopic tensor, and that measures the interplay between the non-integrability of the constraint distribution and…
A nonholonomic system consists of a configuration space Q, a Lagrangian L, and an nonintegrable constraint distribution H, with dynamics governed by Lagrange-d'Alembert's principle. We present two studies both using adapted moving frames.…
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…
The paper is concerned with the problem on rolling of a homogeneous ball on an arbitrary surface. New cases when the problem is solved by quadratures are presented. The paper also indicates a special case when an additional integral and…
The necessary number of commuting vector fields for the Chaplygin ball in the absolute space is constructed. We propose to get these vector fields in framework of the Poisson geometry similar to the Hamiltonian mechanics.
The generalization of (super)integrable Euclidean classical Hamiltonian systems to the two-dimensional sphere and the hyperbolic space by preserving their (super)integrability properties is reviewed. The constant Gaussian curvature of the…
We discuss a family of integrable systems on the sphere $S^2$ with an additional integral of third order in momenta. This family contains the Coryachev-Chaplygin top, the Goryachev system, the system recently discovered by Dullin and…