Explicit integration and topology of D.N. Goryachev case (Q656387)

The author studies a version of rigid body motion in a fluid wherein there is a singularity of the potential in the equatorial plane of the inertia ellipsoid. This problem was originally addressed by D. N. Goryachev. In this paper the author describes an explicit real separation of variables that allows him to study bifurcations of Gorychaev's first integrals. Rigid body motion in a fluid is described by the Kirchoff equations \[ \begin{aligned} \dot M &= M\times{\partial H\over\partial M}+\alpha\times{\partial H\over\partial\alpha},\\ \dot\alpha &= \alpha\times{\partial H\over\partial M},\end{aligned} \] where \(M= (M_1,M_2,M_3)\) and \(\alpha= (\alpha_1,\alpha_2,\alpha_3)\in \mathbb{R}^3\) are respectively the impulse moment and impulse force, and \(H= H(M,\alpha)\) is the total energy. It is known that \[ \Gamma= \alpha^2_1+ \alpha^2_2+ \alpha^2_3\quad\text{and}\quad L= M_1\alpha_1+ M_2\alpha_2+ M_3\alpha_3 \] together with the total energy are first integrals of the system. The author introduces new variables so that the phase variables on integral submanifolds can be expressed explicitly in terms of two auxiliary ones. Then, using the analytical formulae he derives, the author studies the phase topology, including the bifurcation of Liouville tori. This enables him to determine bifurcation diagrams in an explicit form.