Note on a ball rolling over a sphere: Integrable Chaplygin system with an invariant measure without Chaplygin hamiltonization

In this note we consider the nonholonomic problem of rolling without slipping and twisting of an ??-dimensional balanced ball over a fixed sphere. This is a ????(??)?Chaplygin system with an invariant measure that reduces to the cotangent bundle ??*?????1. For the rigid body inertia operator r I? = I? + ?I, I = diag(I1,...,In) with a symmetry I1 = I2 = ... =Ir ? Ir+1 = Ir+2 = ... = In, we prove that the reduced system is integrable, general trajectories are quasi-periodic, while for ?? ? 1, ?? ? 1 the Chaplygin reducing multiplier method does not apply.

Conservation laws for plane steady potential barotropic flow

It is shown that the set of conservation laws for the nonlinear system of equations describing plane steady potential barotropic flow of gas is given by the set of conservation laws for the linear Chaplygin system. All the conservation laws of zero order for the Chaplygin system are found. These include both known and new nonlinear conservation laws. It is found that the number of conservation laws of the first order is not more than three, assuming that the laws do not depend on the velocity potential and are not non-obvious ones. The components of these conservation laws are quadratic with respect to the stream function and its derivatives. All the Chaplygin functions are found, for which the Chaplygin system has three non-obvious conservation laws of the first order that are independent of velocity potential. All such non-obvious first-order conservation laws are found.

On the geometry of generalized Chaplygin systems

Some aspects of the geometry and the dynamics of generalized Chaplygin systems are investigated. First, two different but complementary approaches to the construction of the reduced dynamics are reviewed: a symplectic approach and an approach based on the theory of affine connections. Both are mutually compared and further completed. Next, a necessary and sufficient condition is derived for the existence of an invariant measure for the reduced dynamics of generalized Chaplygin systems of mechanical type. A simple example is then constructed of a generalized Chaplygin system which does not verify this condition, thereby answering in the negative a question raised by Koiller.