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- Publisher
- Springer Journals
- Copyright
- Copyright © 2008 by MAIK Nauka
- Subject
- Mathematics; Dynamical Systems and Ergodic Theory
- ISSN
- 1560-3547
- eISSN
- 1468-4845
- DOI
- 10.1134/S1560354708060063
- Publisher site
- See Article on Publisher Site
Abstract
We consider a nonholonomic system describing the rolling of a dynamically nonsymmetric sphere over a fixed sphere without slipping. The system generalizes the classical nonholonomic Chaplygin sphere problem and it is shown to be integrable for one special ratio of radii of the spheres. After a time reparameterization the system becomes a Hamiltonian one and admits a separation of variables and reduction to Abel-Jacobi quadratures. The separating variables that we found appear to be a non-trivial generalization of ellipsoidal (spheroconic) coordinates on the Poisson sphere, which can be useful in other integrable problems. Using the quadratures we also perform an explicit integration of the problem in theta-functions of the new time.
Journal
Regular and Chaotic Dynamics – Springer Journals
Published: Dec 16, 2008