On the motion of a solid with an ideal non-retaining constraint (Q1091161)

The main problem discussed here involves a collision between a moving rigid body which is almost spherical and a horizontal plane (gravity acts in the vertical direction). The potential energy is mgz. The kinetic energy includes rotational inertia terms. The obvious one-sided inequality is \(z\geq d\). Arnold's version of Kolmogorov's theorem concerning perturbations of the Hamiltonian to obtain estimates concerning the changes in momenta is applied directly. Periodicity of the angular rotation and its stability is determined by following a technique first suggested by Poincaré in the study of celestial mechanics.