The hydrodynamic Chaplygin sleigh
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Nonholonomic dynamical systems (37J60) Nonholonomic systems related to the dynamics of a system of particles (70F25) Lagrange's equations (70H03) Fluid-solid interactions (including aero- and hydro-elasticity, porosity, etc.) (74F10) Jets and cavities, cavitation, free-streamline theory, water-entry problems, airfoil and hydrofoil theory, sloshing (76B10)
Abstract: We consider the motion of rigid bodies in a potential fluid subject to certain nonholonomic constraints and show that it is described by Euler--Poincar'e--Suslov equations. In the 2-dimensional case, when the constraint is realized by a blade attached to the body, the system provides a hydrodynamic generalization of the Chaplygin sleigh, whose dynamics are studied in detail. Namely, the equations of motion are integrated explicitly and the asymptotic behavior of the system is determined. It is shown how the presence of the fluid brings new features to such a behavior.
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- Realizing nonholonomic dynamics as limit of friction forces
- On the brachistochronic motion of the Chaplygin sleigh
- The motion of the 2D hydrodynamic Chaplygin sleigh in the presence of circulation
- Nonholonomic LL systems on central extensions and the hydrodynamic Chaplygin sleigh with circulation
- Computational Dynamics of Reduced Coupled Multibody-Fluid System in Lie Group Setting
- Dynamics of a body with a sharp edge in a viscous fluid
- Dynamics of the nonholonomic Suslov problem under periodic control: unbounded speedup and strange attractors
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