Quaternion solution for the rock'n'roller: box orbits, loop orbits and recession

DOI10.1134/S1560354713010127zbMATH Open1273.70007arXiv1207.6022OpenAlexW3104640663MaRDI QIDQ358458FDOQ358458

Miguel D. Bustamante, Peter Lynch

Publication date: 8 August 2013

Published in: Regular and Chaotic Dynamics (Search for Journal in Brave)

Abstract: We consider two types of trajectories found in a wide range of mechanical systems, viz. box orbits and loop orbits. We elucidate the dynamics of these orbits in the simple context of a perturbed harmonic oscillator in two dimensions. We then examine the small-amplitude motion of a rigid body, the rock'n'roller, a sphere with eccentric distribution of mass. The equations of motion are expressed in quaternionic form and a complete analytical solution is obtained. Both types of orbit, boxes and loops, are found, the particular form depending on the initial conditions. We interpret the motion in terms of epi-elliptic orbits. The phenomenon of recession, or reversal of precession, is associated with box orbits. The small-amplitude solutions for the symmetric case, or Routh sphere, are expressed explicitly in terms of epicycles; there is no recession in this case.

Full work available at URL: https://arxiv.org/abs/1207.6022

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zbMATH Keywords

Hamiltonian dynamicsnonholonomic constraintsrolling body dynamics

Mathematics Subject Classification ID

Motion of a rigid body in contact with a solid surface (70E18) Perturbation methods for rigid body dynamics (70E20) Nonintegrable systems for problems in Hamiltonian and Lagrangian mechanics (70H07)

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Cited In (3)

• Nonholonomic Noetherian symmetries and integrals of the Routh sphere and the Chaplygin ball
• Qualitative analysis of the nonholonomic rolling of a rubber wheel with sharp edges
• The Jacobi integral in nonholonomic mechanics

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