The hierarchy of dynamics of a rigid body rolling without slipping and spinning on a plane and a sphere (Q359005)

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The hierarchy of dynamics of a rigid body rolling without slipping and spinning on a plane and a sphere
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    The hierarchy of dynamics of a rigid body rolling without slipping and spinning on a plane and a sphere (English)
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    9 August 2013
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    nonholonomic constraint
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    tensor invariant
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    first integral
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    invariant measure
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    integrability
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    conformally Hamiltonian system
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    rubber rolling
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    reversible
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    involution
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