Nonholonomic connections, time reparametrizations, and integrability of the rolling ball over a sphere

DOI10.1088/1361-6544/AAFCDDzbMATH Open1410.37060arXiv1805.10610OpenAlexW3099502355WikidataQ128058565 ScholiaQ128058565MaRDI QIDQ4632032FDOQ4632032

Authors: Borislav Gajić, Božidar Jovanović 

Publication date: 25 April 2019

Published in: Nonlinearity (Search for Journal in Brave)

Abstract: We study a time reparametrisation of the Newton type equations on Riemannian manifolds slightly modifying the Chaplygin multiplier method, allowing us to consider the Chaplygin method and the Maupertuis principle within a unified framework. As an example, the reduced nonholonomic problem of rolling without slipping and twisting of an $n$-dimensional balanced ball over a fixed sphere is considered. For a special inertia operator (depending on $n$ parameters) we prove complete integrability when the radius of the ball is twice the radius of the sphere. In the case of $SO(l)imesSO(n-l)$ symmetry, noncommutative integrability for any ratio of the radii is established.

Full work available at URL: https://arxiv.org/abs/1805.10610

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zbMATH Keywords

integrabilityconnectionsnonholomic Chaplygin systems

Mathematics Subject Classification ID

Completely integrable finite-dimensional Hamiltonian systems, integration methods, integrability tests (37J35) Linear and affine connections (53B05) Geodesics in global differential geometry (53C22) Nonholonomic systems related to the dynamics of a system of particles (70F25) Nonholonomic dynamical systems (37J60)

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Cited In (12)

• The Integrable Problem of the Rolling Motion of a Dynamically Symmetric Spherical Top with One Nonholonomic Constraint
• Generalisation of Chaplygin's reducing multiplier theorem with an application to multi-dimensional nonholonomic dynamics
• Hamiltonisation, measure preservation and first integrals of the multi-dimensional rubber Routh sphere
• Integrability of the problem of rolling of a sphere with a multiply connected cavity filled with an ideal fluid
• Topological analysis of an integrable system related to the rolling of a ball on a sphere
• Integrable discretization and deformation of the nonholonomic Chaplygin ball
• The geometry of nonholonomic Chaplygin systems revisited
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• Spherical and planar ball bearings --- nonholonomic systems with invariant measures

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