Routh's sphere (Q1289582)

The paper gives a detailed study of the equations of motion of the Routh's sphere rolling on a horizontal plane in a constant vertical gravitational field. The derivation of first integrals is recalled, and a symmetry reduction procedure is described. The author studies the geometry of level sets of the obtained integrals, and the reduced dynamics on these level sets. Finally, using the non-Hamiltonian monodromy theorem, it is verified that the integral map of the Routh's sphere has a monodromy when the sphere becomes gyroscopically unstable.