Rolling of a ball on a surface. New integrals and hierarchy of dynamics (Q1860549)

The authors study the rolling a homogeneous ball on an arbitrary surface. They derive new cases when the problem is solved in quadratures, and present a nonholonomic generalization of Jacobi problem for inertial motion of a point on an ellipsoid. The results obtained extend classical investigations by \textit{E. Routh} [Treatise on the dynamics of a system of rigid bodies. New York: Dover Publications (1955; Zbl 0065.16802)].