Leninskie Gory 1, Moscow, 119991 Russia
M.V. Lomonosov Moscow State University
Bolotin S. V., Popova T. V.
On the Motion of a Mechanical System Inside a Rolling Ball
2013, vol. 18, no. 1-2, pp. 159-165
We consider a mechanical system inside a rolling ball and show that if the constraints have spherical symmetry, the equations of motion have Lagrangian form. Without symmetry, this is not true.