The integration of equations of motion of a body with three supports on a rough plane (Q662331)

The integration problem for equations of motion of the body with three supports on a rough plane is investigated. A supporting point contacts of the body obey the law of dry friction. In the first section the model definition is given and the motion equations for the system are obtained with the assumption that the angular velocity of the body, the velocity components of the center of inertia and normal reactions in the contact points are the variables. The second section is devoted to rotations about the vertical axis in the case when the body's centre of inertia belongs to the rotation axis. It is proved that for unbalanced body such kind of motion is impossible. In the third section, arbitrary motions of the body are studied. The property of the parallel horizontal motion of the plate with three points of contact is stated. For this case the result on existence of the first integrals of the motion equations is of certain interest. It is shown that in general case (when the constant of the first integral is nonzero) the motion process of the body always ends by the rotation about one of the supporting points.