$G$-Chaplygin systems with internal symmetries, truncation, and an (almost) symplectic view of Chaplygin's ball

Simon Hochgerner, Luis Garcia-Naranjo

Via compression ([11, 7]) we write the $n$-dimensional Chaplygin sphere system as an almost Hamiltonian system on $T^{\ast }SO(n)$ with internal symmetry group $SO(n-1)$. We show how thi…