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

DOI10.1088/1361-6544/AAFCDDMaRDI QIDQ4632032zbMATH OpenOpenAlexWikidataFDO

Authors Borislav Gajić, Božidar Jovanović

Publication date 25 April 2019

Published in Nonlinearity (Search for Journal in Brave)

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

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)

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.

Recommendations

• The Nonholonomy of the Rolling Sphere
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• Integrable discretization and deformation of the nonholonomic Chaplygin ball
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• Topological analysis of an integrable system related to the rolling of a ball on a sphere
• Note on a ball rolling over a sphere: integrable Chaplygin system with an invariant measure without Chaplygin Hamiltonization
• Integrable Euler top and nonholonomic Chaplygin ball
• Nonholonomic mechanics and connections over a bundle map
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Cited in

(12)

• Demchenko's nonholonomic case of a gyroscopic ball rolling without sliding over a sphere after his 1923 Belgrade doctoral thesis
• Hamiltonisation, measure preservation and first integrals of the multi-dimensional rubber Routh sphere
• Integrability and dynamics of the \(n\)-dimensional symmetric Veselova top
• The Integrable Problem of the Rolling Motion of a Dynamically Symmetric Spherical Top with One Nonholonomic Constraint
• The geometry of nonholonomic Chaplygin systems revisited
• Integrable discretization and deformation of the nonholonomic Chaplygin ball
• Integrability of the problem of rolling of a sphere with a multiply connected cavity filled with an ideal fluid
• Gyroscopic Chaplygin systems and integrable magnetic flows on spheres
• Generalisation of Chaplygin's reducing multiplier theorem with an application to multi-dimensional nonholonomic dynamics
• Spherical and planar ball bearings --- nonholonomic systems with invariant measures
• Topological analysis of an integrable system related to the rolling of a ball on a sphere
• Two integrable cases of a ball rolling over a sphere in \(\mathbb{R}^n\)

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