Nonholonomic systems and the geometry of constraints (Q2457726)

The authors consider mechanical systems with linear constraints (defined by a constant rank distribution) in which conservation of volume holds. They start by analysing the geometry of three cases: a homogeneous disc, a vertical disc and a sphere rolling without slipping on a horizontal plane. Then, they study a dynamically symmetric sphere rolling without slipping on a regular surface of \(\mathbb{R}^3\). Geometric questions related to the kinematics of the rolling motion of two surfaces are considered as well.