A Discretization of the Nonholonomic Chaplygin Sphere Problem
The celebrated problem of a non-homogeneous sphere rolling over a horizontal plane was proved to be integrable and was reduced to quadratures by Chaplygin. Applying the formalism of variational integrators (discrete Lagrangian systems) with nonholonomic constraints and introducing suitable discrete...
| Main Author: | |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
National Academy of Science of Ukraine
2007-03-01
|
| Series: | Symmetry, Integrability and Geometry: Methods and Applications |
| Subjects: | |
| Online Access: | http://www.emis.de/journals/SIGMA/2007/044/ |