Conservation of `moving' energy in nonholonomic systems with affine constraints and integrability of spheres on rotating surfaces

DOI10.1007/S00332-015-9283-4zbMATH Open1388.70011arXiv1503.06661OpenAlexW2291343333MaRDI QIDQ266428FDOQ266428

Authors: Nicola Sansonetto, Francesco Fassò 

Publication date: 13 April 2016

Published in: Journal of Nonlinear Science (Search for Journal in Brave)

Abstract: Energy is in general not conserved for mechanical nonholonomic systems with affine constraints. In this article we point out that, nevertheless, in certain cases, there is a modification of the energy that is conserved. Such a function coincides with the energy of the system relative to a different reference frame, in which the constraint is linear. After giving sufficient conditions for this to happen, we point out the role of symmetry in this mechanism. Lastly, we apply these ideas to prove that the motions of a heavy homogeneous solid sphere that rolls inside a convex surface of revolution in uniform rotation about its vertical figure axis, are (at least for certain parameter values and in open regions of the phase space) quasi-periodic on tori of dimension up to three.

Full work available at URL: https://arxiv.org/abs/1503.06661

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zbMATH Keywords

conservation of energyintegrabilitynonholonomic mechanical systemsrolling rigid bodiessymmetries and momentum maps

Mathematics Subject Classification ID

Momentum maps; symplectic reduction (53D20) Nonholonomic systems related to the dynamics of a system of particles (70F25) Nonholonomic dynamical systems (37J60) Motion of a rigid body in contact with a solid surface (70E18)

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Cited In (21)

• Radial kinetic nonholonomic trajectories are Riemannian geodesics!
• A geometric characterization of certain first integrals for nonholonomic systems with symmetries
• Different models of rolling for a robot ball on a plane as a generalization of the Chaplygin ball problem
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