Princeton, NJ 08544, U.S.A.
Joseph Henry Laboratories, Princeton University
McDonald K. T.
Hexagonal Pencil Rolling on an Inclined Plane
2008, vol. 13, no. 4, pp. 332-343
An everyday example of a nonholonomic mechanical system is a pencil rolling on an inclined plane. Aspects of the motion are discussed in various approximations, of which the most realistic assumes rolling without sliding and that a constant fraction of the pencil’s kinetic energy is retained after each collision with the plane.