ar X iv : m at h - ph / 0 51 00 88 v 1 2 6 O ct 2 00 5 Quasi - Chaplygin Systems and Nonholonimic Rigid Body Dynamics ∗
نویسنده
چکیده
We show that the Suslov nonholonomic rigid body problem studied in [10, 13, 26] can be regarded almost everywhere as a generalized Chaplygin system. Furthermore, this provides a new example of a multidimensional nonholonomic system which can be reduced to a Hamiltonian form by means of Chaplygin reducing multiplier. Since we deal with Chaplygin systems in the local sense, the invariant manifolds of the integrable examples are not necessary tori.
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