Vakhtang Putkaradze


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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