Spherical and Planar Ball Bearings -- a Study of Integrable Cases

Vladimir Dragović, Borislav Gajić, Božidar Jovanović

We consider the nonholonomic systems of $n$ homogeneous balls ${\mathbf{B}}_1,\dots ,{\mathbf{B}}_n$ with the same radius $r$ that are rolling without slipping about a fixed sphere $\math…