The Dynamics of Chaplygin Ball: the Qualitative and Computer Analysis

The motion of Chaplygin ball with and without gyroscope in the absolute space is analyzed. In particular, the trajectories of the point of contact are studied in detail. We discuss the motions in the absolute space, that correspond to the different types of motion in the moving frame of reference related to the body. The existence of the bounded trajectories of the ball's motion is shown by means of numerical methods in the case when the problem is reduced to a certain Hamiltonian system.