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

DOI10.1134/S1560354713010127MaRDI QIDQ358458zbMATHOpenAlexFDO

Authors Peter Lynch, Miguel D. Bustamante

Publication date 8 August 2013

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

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

Hamiltonian dynamics nonholonomic constraints rolling body dynamics

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)

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.

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