Chaplygin's ball rolling problem is Hamiltonian (Q1810010)

This paper is devoted to the problem of rolling of dynamically balanced nonsymmetric ball across a horizontal rough plane surface (the velocity of the point of contact is zero) in a potential field of force. The projections of the ball motion on principal axes associated with the ball are described by the system of equations \(\dot M= M\times\omega+ \gamma\times{\partial V\over\partial\gamma}\), \(\dot\gamma= \gamma\times \omega\), \(M= I_0\omega+ D\gamma\times (\omega\times\gamma)\), \(D= ma^2\), where \(\omega\) is the angular velocity vector, \(\gamma\) is the vertical unit vector, \(I_0= \text{diag}(I^0_1, I^0_2, I^0_3)\) is the inertia tensor, \(m\) is the mass of the ball, and \(a\) is its radius. The vector \(M\) stands for kinetic momentum of the ball about the point for contact. The authors show that the above equations become Hamiltonian offer a time substitution. The question of whether the above equations are Hamiltonian without additional time substitutions remains unsolved.