The Geometry of the Routh Problem
نویسنده
چکیده
In this paper the motion without sliding of a homogeneous ball on a surface of revolution is studied. It is shown that the necessary condition for stability of stationary periodic motions of the ball obtained by Routh is also a sufficient one. We prove that the nondegenerate invariant manifolds are diffeomorphic to unions of invariant tori filled with quasiperiodic motions.
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