Stuart Rogers

University of Minnesota, Twin Cities


Putkaradze V., Rogers S. M.
The goal of this paper is to investigate the normal and tangential forces acting at the point of contact between a horizontal surface and a rolling ball actuated by internal point masses moving in the ball’s frame of reference. The normal force and static friction are derived from the equations of motion for a rolling ball actuated by internal point masses that move inside the ball’s frame of reference, and, as a special case, a rolling disk actuated by internal point masses. The masses may move along one-dimensional trajectories fixed in the ball’s and disk’s frame. The dynamics of a ball and disk actuated by masses moving along one-dimensional trajectories are simulated numerically and the minimum coefficients of static friction required to prevent slippage are computed.
Keywords: nonholonomic mechanics, holonomic mechanics, rolling balls, rolling disks
Citation: Putkaradze V., Rogers S. M.,  On the Normal Force and Static Friction Acting on a Rolling Ball Actuated by Internal Point Masses, Regular and Chaotic Dynamics, 2019, vol. 24, no. 2, pp. 145-170

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