Conservation of `moving' energy in nonholonomic systems with affine constraints and integrability of spheres on rotating surfaces
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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.
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Cited in
(21)- A symmetric sphere rolling on a surface
- A geometric characterization of certain first integrals for nonholonomic systems with symmetries
- Radial kinetic nonholonomic trajectories are Riemannian geodesics!
- Different models of rolling for a robot ball on a plane as a generalization of the Chaplygin ball problem
- Dynamics of the Chaplygin ball on a rotating plane
- The Jacobi integral in nonholonomic mechanics
- Energy conservation with non-symplectic methods: examples and counter-examples
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- On the dynamics of a heavy symmetric ball that rolls without sliding on a uniformly rotating surface of revolution
- Nonholonomic rolling of a ball on the surface of a rotating cone
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