Hamiltonization and Separation of Variables for a Chaplygin Ball on a Rotating Plane

    2019, Volume 24, Number 2, pp.  171-186

    Author(s): Tsiganov A. V.

    We discuss a non-Hamiltonian vector field  appearing in considering the partial motion of a Chaplygin ball rolling on a horizontal plane which rotates with constant angular velocity. In two partial cases  this vector field is expressed via Hamiltonian vector fields using a nonalgebraic deformation of the canonical  Poisson bivector on $e^*(3)$.  For the symmetric ball we also calculate variables of separation, compatible Poisson brackets, the algebra of Haantjes  operators and  $2\times2$ Lax matrices.
    Keywords: nonholonomic mechanics, separation of variables, Chaplygin ball
    Citation: Tsiganov A. V., Hamiltonization and Separation of Variables for a Chaplygin Ball on a Rotating Plane, Regular and Chaotic Dynamics, 2019, Volume 24, Number 2, pp. 171-186



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