Spherical and planar ball bearings -- nonholonomic systems with invariant measures

Vladimir Dragovic, Borislav Gajic, Bozidar Jovanovic

We first construct nonholonomic systems of $n$ homogeneous balls ${\mathbf{B}}_1,\dots ,{\mathbf{B}}_n$ with centers $O_1,...,O_n$ and with the same radius $r$ that are rolling without sl…