c Pleiades Publishing, Ltd., 2012.

ISSN 1560-3547, Regular and Chaotic Dynamics, 2012, Vol. 17, No. 2, pp. 199217. 

DYNAMICS INTERPRETARI

On Some Generalization of the Area Theorem

with Applications to the Problem of Rolling Balls*
Sergey A. Chaplygin
AbstractThis publication contributes to the series of RCD translations of Sergey Alexeevich
Chaplygins scientic heritage. Earlier we published three of his papers on non-holonomic
dynamics (vol. 7, no. 2; vol. 13, no. 4) and two papers on hydrodynamics (vol. 12, nos. 1, 2).
The present paper deals with mechanical systems that consist of several spheres and discusses
generalized conditions for the existence of integrals of motion (linear in velocities) in such
systems.
First published in 1897 and awarded by the Gold Medal of Russian Academy of Sciences, this
work has not lost its scientic signicance and relevance. (In particular, its principal ideas are
further developed and extended in the recent article Two Non-holonomic Integrable Problems
Tracing Back to Chaplygin, published in this issue, see p. 191). Note that non-holonomic
models for rolling motion of spherical shells, including the case where the shells contain intricate
mechanisms inside, are currently of particular interest in the context of their application in the
design of ball-shaped mobile robots.
We hope that this classical work will be estimated at its true worth by the English-speaking
world.
MSC2010 numbers: 37J60
DOI: 10.1134/S1560354712020086
Keywords: nonholonomic systems, integration

1. Imagine a mechanical system consisting of an arbitrary number of mass points (m1 , m2 , . . .).
Some constraints are imposed on the system. Consider a constantly directed moving axis AZ that
always passes through a moving point A. Assume that the constraints allow for the system to rotate
as a whole around the axis AZ.
Let the point A and the center of gravity G of the system have coordinates , , and , ,
respectively relative to the xed axes OX1 Y1 Z1 . Assume that
= + 0 , = + 0 , = + 0 ,

(1)

where 0 , 0 , 0 , and are arbitrary constants. The velocities of the points A and G are parallel
(Fig. 1).

Fig. 1
*

Originally published in: Matematicheskii sbornik, 1897, Vol. 20.

199

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CHAPLYGIN

Suppose that the system is subject to external and internal forces and the external forces can
be replaced by two forces whose lines of action intersect with the axis AZ. (Hereinafter, addition
of the forces acting on a system must be carried out assuming the system to be xed.1) Instead of
assuming that the moment of the external forces about the axis AZ equals zero we might assume
that this moment is a predetermined function of time. In that case a time-dependent term will
appear in the integral. This remark should be remembered for the subsequent analysis.) Suppose
x, y, z and x1 , y1 , z1 are the coordinates of points relative to the moving axes AXY Z and xed axes
respectively. Using DAlemberts principle we get

  d2 x1
d2 y1
m y 2 x 2 = 0.
dt
dt

my
In this
x + , y + , z + for x1 , y1 , z1 , M ( ) and M ( ) for
 expression, substituting

and
mx, where M = m, and combining this with (1) we get

 2



  d2 x
d2 y
d2
d2
d2
d
m y 2 x 2 + ( 1)M 2 2 + M 0 2 0 2 = 0.
dt
dt
dt
dt
dt
dt
Integrating the last expression with respect to time yields





  dx
dy
d
d
d
d
+ ( 1)M

+ M 0
0
= const.
m y x
dt
dt
dt
dt
dt
dt

(2)

Equation (2) generalizes the integral of areas. Indeed, assuming , , to be constant (i.e. xing
the point A), the last two terms in (2) vanish. And for = 1, and 0 = 0 = 0 = 0 we get the
integral of areas of the motion when the axis AZ passes through the center of gravity.
If rotations as a whole of the system around each of the three moving axes AX, AY , and AZ
are allowed and the moment of external forces about each of these axes is zero then we have three
integrals of the type (2).
2. Further, consider a mechanical system consisting of two parts (I) and (II). Imagine two
constantly directed parallel axes AZ and BZ  that always pass through the points A and B
respectively (Fig. 2). For part (I), the point A, the axis AZ, and the constraints imposed on
the system are assumed to satisfy the assumptions made in 1 (and analogously for part (II), the
point B, and the axis BZ  ). Let L and L be the torques about AZ and BZ  respectively that
part (I) exerts on part (II). Assume that
L : L = K = const.

(3)

Fig. 2

1)

Inertial forces (such as the Coriolis force) are neglected. Transl. note.
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ON SOME GENERALIZATION OF THE AREA THEOREM

201

This equality can be satised if these forces are equivalent to two forces, R1 and R2 , crossing the
axis CZ  that is parallel to AZ and passes through a point C [A, B] such that CA : CB = const.
Let the points A and B have coordinates , , and  ,  ,  respectively relative to the xed axes.
Denote by x, y, z (x , y  , z  ) the coordinates of points from part (I) (part (II)) relative to the frame
AXY Z (BX  Y  Z  ). As in 1 we get:

 2

 2

d
d y
d2 x
d2
dS 

+
(

1)M

=
m
x

dt
dt2
dt2
dt2
dt2




d2
d2

+
M

= L,
0
0

dt2
dt2
(4)
 2 

2 
2 
2 

dS   

d y
d x


d
d

=
m x 2 y

+ ( 1)M

dt
dt
dt2
dt2
dt2




d2
d2 

+ M 0 2 0 2 = L ,
dt
dt
where S and S  are the time integrals of the left-hand sides of (4). In the rst expression, the
torque about AZ that part (II) exerts on part (I) is denoted as L. Since L is the torque about
AZ calculated for forces that are equal in magnitude and opposite in direction.
Using (3) and (4) we get an integral
S + KS  = const.
AX, BX 

(5)
BZ 

and AY, BY satised the assumptions made for the axes AZ and
then
If the axes
we would have three integrals of the type (5). In view of the remark from 1, a time-dependent
term may occur in (5).
S and S  from (5) are the angular momentum about the axes AZ and BZ  of part (I) and (II)
respectively. Thus equation (5) describes momentum transfer from one part of the system to the
other.
3. The results from 1 and 2 can be extended. Indeed, imagine a mechanical system consisting
of n interacting parts organized into a chain with free ends (Fig. 3). Each part has its own center
Ai and axis Ai Zi . These axes are parallel to each other. For an ith part, assume that the moment
of the external forces about the axis Ai Zi is zero. Let Liik be the torque about the axis Ai Zi that
part i exerts on part k. Suppose
Liik = aik Lkik
where aik are constants. Note that
part. Then

Liik

Liki .

(6)

Let Si denote the angular momentum of an ith

dS1
= L112 ,
dt
dS2
= L212 + L232 ,
dt
dS3
= L323 + L343 ,

dt

...

dSn = Ln
n1,n .
dt

(7)

Multiplying these equations by

1, a12 , a12 a23 , a12 a23 a34 , . . . ,
respectively and summing them up we see that the right-hand side vanishes. Thus, we have an
integral
S1 + a12 S2 + a12 a23 S3 + . . . + a12 a23 . . . an1,n Sn = const.
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(8)

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CHAPLYGIN

We can get a similar integral under a dierent assumption about the structure of the mechanical
system. Let the system consist of a central part 1 interacting with parts 2, 3, . . . , n (Fig. 4). Suppose
that the centers Ai , axes Ai Zi , the external forces and reactions satisfy the above assumptions.
Equations (6) remain valid, but equations (7) change as follows:
dS3
dSn
dS2
= L212 ,
= L331 , . . . ,
= Ln1n ,
dt
dt
dt
dS1
= L121 + L131 + .. + L1n1 .
dt
Multiplying the equations of the rst row by
a12 , a13 , . . . , a1n
respectively and summing with the last equation, we get an integral
S1 + a12 S2 + a13 S3 + . . . + a1n Sn = const.

(9)

If the system possessed three sets of parallel axes that satisfy the above assumptions then there
were three integrals of the type (8) or (9). Also, the number of integrals increases, if some of Lik
equal zero.

Fig. 3

Fig. 4

Integrals of the type (8) or (9) can exist for systems with more complicated structure. For
example, when a system is similar to a chain (Fig. 3) and every link is organized as depicted in
Fig. 4.
4. So far we have studied integrals that characterize transfer of momentum from one part of a
system to another. Let us now discuss how a rectilinear motion of one part can inuence a rotational
motion of another part. In the other words we are interested in the interaction between the linear
momentum of one part and the angular momentum of another. This may allow determination of
some integrals of motion.
Suppose that the center A, the axis AZ, the external forces and constraints imposed on part (I) of
a mechanical system satisfy the assumptions from 1 (Fig. 5). Let AXY Z and OX1 Y1 Z1 be moving
and xed axes respectively. Suppose the constraints imposed on part (II) allow for displacement
along the axes AX and AY (or, equivalently, OX1 and OY1 ). Also, let the external forces acting
on part (II) be equivalent to an arbitrary couple and a force that is parallel to AZ. Assume that
there exists such a point C on the plane AXY that the reaction of part (I) on (II) is equivalent to
two forces R and R crossing the line CL which is parallel to AZ and passing through C. Denote
by a and b the coordinates of this point C relative to the axes AXY Z. Let M  be the mass of part
(II), , , be coordinates of its center of gravity G relative to the axes AXY Z, and Rx , Ry , Rz
and Rx , Ry , Rz be the projections of the forces R and R on these axes. The coordinates , and
dene the position of the point A. Then the coordinates of G relative to the xed axes OXl Y1 Z1
are
+ , + , + .
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ON SOME GENERALIZATION OF THE AREA THEOREM

We get


d2 d2
+ 2 = Rx + Rx ,
2
dt
dt 
 2
2
d

d
+
= Ry + Ry .
M
dt2
dt2

203

M

As in 1 and 2, for part (I) we have


 2

 2

d2 x
d2
d
d y
m x 2 y 2 + M ( 1) 2 2
dt
dt
dt

 dt2
d
d2
+M 0 2 0 2 = b(Rx + Rx ) a(Ry + Ry ).
dt
dt

(10)

(11)

The right-hand side of the equation is the reaction torque about the axis AZ exerted by part (II)
on part (I). From (10) and (11) we obtain an integral:







dx
d
d
d
d
dy

+M a b
+ M ( 1)
m x y
dt
dt
dt
dt
dt
dt
(12)
d
d


= const.
+(M 0 + M a) (M 0 + M b)
dt
dt

Fig. 5

Note that the assumptions about the external forces acting on part (II) can be relaxed. Indeed,
we assumed that the sum of these forces projects to zero in the plane AXY . But if the projections
are constants or any time-dependent functions then time-dependent terms X and Y will appear in
the right-hand side of equation (10). In its turn this results in a term of the form

a Y dt + b Xdt
in the left-hand side of (12).
Moreover, if the center of gravity were acted on by a force whose line crosses the line CL then
equation (12) would remain the same.
5. Under some additional assumptions there could be more than one integral of the type (12).
There will be three integrals if 1) the reaction of one part onto the other is equivalent to a force
passing through a point D that is xed relative to the axes AXY Z, and 2) if the external forces
acting on part (II) are equivalent to a couple or a couple and a force R whose projections Rx , Ry , Rz
on the axes are known time-dependent functions. Such an increase in the number of integrals follows
from the fact that under the additional assumptions there are three lines with the properties of line
CL intersecting at the point D (Fig. 5).
Even more remarkable is the case when the point D is on one of the axes AX, AY or AZ. Let
D lie on AZ. Then no restriction on Rz is needed. Since Rx and Ry are known functions of time,
we have three integrals of the type (12). Indeed, for each of the axes AX, AY and AZ an equation
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CHAPLYGIN

of the type (11) can be composed: since the rst two coordinates of the point D(a, b, c) are zero,
we easily obtain three integrable equations.
The results from 4 and 5 can be further generalized. For example (as in 3), when the system
is organized into a chain with free ends (Fig. 3) with the structure of each link as in Fig. 4. By the
same reasoning as in 3, we will get integrals of motions.
6. Consider some applications of the obtained results. The use of the theorem from 1 can be
illustrated as follows. Imagine a ball rolling inside a xed sphere. Let O and G be the centers of the
sphere and the ball respectively; let A be the point of contact (Fig. 6). Assume that the center of
gravity of the ball coincides with G and there is friction at the point A 2) . The principal moments
of inertia of the ball do not necessary coincide. Let , , and , , be the coordinates of the
points A and G respectively relative to the xed axes OX  Y  Z  , a and b be the distances between
O and G, and O and A respectively. We have
b
b
b
= , = , = .
a
a
a

Fig. 6

The reaction of the sphere on the ball at the point A intersects the axis AZ, and the force of
gravity is parallel to this axis. Thus, using (2) from 1 we get an integral




  dx
dy
d
d
b
+M
1

= const.
m y x
dt
dt
a
dt
dt
If the rolling ball was hollow, we could place another ball inside it. This would be a ne illustration
of application of equation (5) from 2. However, for this purpose let us consider the following
problem.
7. Imagine a dynamically symmetric (about its center) hollow ball (I) placed on an inclined
plane (Fig. 7). Let be the angle between the plane and the horizon. Inside ball (I) there is another
ball (II) with the same distribution of mass. The rst ball touches the plane and the second ball at
the points A and C respectively. At these points, friction occurs but slippage can also take place.
Let Q and R be the forces exerted by the plane on ball (I) and by ball (I) on ball (II) respectively.
In this problem, there are no general integrals of motion. However, some of the theorems
discussed above prove to be useful. Suppose the axis OZ1 is normal to the inclined plane and
OX1 is directed along the plane. Consider the axis G B parallel to OZ1 ; it intersects with AC at
the point B. Consider two systems of moving axes AXY Z and BX  Y  Z  parallel to the xed axes.
Let a be the radius of the outer surface of the rst ball, be the radius of the second ball, and b
denote the distance GG ; let M and M  be the masses of the balls. Suppose , , and , , are
the coordinates of the points G and A respectively. Then we have
= , = , = a, = 0.
2)

(13)

Slippage is not prohibited. Transl. note.

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205

Fig. 7

Let x, y, and z be the coordinates of the point G relative to the axes AXY Z. Then the point B
has coordinates
a
,
(14)
x, y, z
+b
because
BG : AG = CG : CG .
It follows from equations (13) and (14) that the centers A and B satisfy the assumptions from 2.
Consider the forces acting on the balls. The external forces acting on ball (I) are the force of gravity
with components
M g sin , 0, M g cos ,
relative to the axes AXY Z and the reaction Q. The components of the moment of these forces are
0, M ga sin , 0.
For ball (II), the components of the force due to gravity are
M  g sin , 0, M  g cos
relative to the axes BX  Y  Z  . The moment of this force reads
a
sin , 0.
0, M  g
b+
The reaction R between the balls is applied at the point C. Moreover the point C is on the line
AB and AC : BC = (b + ) : . Therefore the moments of the reaction R about the axes AX and
B  X, AY and B  Y , AZ and B  Z are in the same ratio (b + ) : . Thus there are three pairs of axes
that satisfy the assumptions from 2. Let Sx , Sy , Sz and Sx , Sy , Sz be the angular momentums of
balls (I) and (II) relative to the axes AXY Z and BX  Y  Z  respectively. Using the material from 2,
we obtain three integrals
+b 
S = l,
x
+b 
S = m + (M + M  )ga sin t,
Sy +
y
+b 
S = n,
Sz +
z
Sx +

where l, m and n are arbitrary constants. If the plane were horizontal, then sin = 0 and the second
equation would not contain the time-dependent term.
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CHAPLYGIN

Since the problem to which we draw the readers attention, has some theoretical interest, we will
show in the next section how under some simplifying assumptions the integration of the equation
can be carried out. Now let us consider more advanced applications of the results from 3. Imagine
a system of nested spheres. An (i + 1)th sphere rolls over the inner surface of the ith sphere
and the rst sphere rolls over an inclined plane (Fig. 8). Let the spheres contact at the points
C1 , C2 , . . ., the points G, G1 , G2 , . . . be the spheres centers of gravity. The lines GA, GA1 , GA2 , . . .
are normal to the plane and intersect with the lines AC1 , A1 C2 , . . . at the points A, A1 , A2 , . . ..
The points A, A1 , A2 , . . . can be treated as the moving centers of the parts of the system (see 3).
Three moving axes with origin A satisfy the assumptions from 3. It is easy to verify that three
mutually perpendicular systems of parallel axes intersecting at the moving centers A, A1 , A2 satisfy
the assumptions from this section. Thus, in this more complex mechanical system, there are three
integrals of the type (8).

Fig. 8

Consider a sphere with n inner spheres. To avoid collisions place the inner spheres on dierent
concentric layers (Fig. 9). Let the outer sphere contact the plane at the point A, and the inner
spheres contact the layer surfaces at the points C1 , C2 , C3 , . . .. Suppose that for every i the line
Gi Ai is parallel to GA and Ci A intersects Gi Ai at the point Ai which is the center of the ith link.
Equation (9) from 3 gives three integrals of the problem.

Fig. 9

Fig. 10

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ON SOME GENERALIZATION OF THE AREA THEOREM

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8. Consider a simplied version of the problem formulated in 6. The system consists of two
balls. The rst ball has outer radius a, mass M and touches a horizontal plane OX1 Y1 at the point A
(Fig. 10). The moving axes AXY Z are parallel to the xed axes OX1 Y1 Z1 . Let the inner ball have
radius , mass m and coordinates x, y, z of the center of gravity G relative to the axes AXY Z.
Denote by p , q  , r  and p, q, r the components of the angular velocity of the inner and the outer
balls respectively. Assume that both balls are dynamically symmetric and mk2 and M (K 2 a2 )
are their moments of inertia. Denote by b the distance GG . Suppose there is no slippage between
the outer ball and the plane and between the balls.
The velocity of the point A is
u = qa, v = pa, w = 0
relative to the axes AXY Z. The velocity of the point C is
dx
dx

+ qa + q  z  r  y  =
+ qa + [q  (z a) r  y] ,
dt
dt
b
dy
dy

pa + r  x p z  =
pa + [r  x p (z a)] ,
v =
dt
dt
b
dz
dz

+ p y  q  x r  y  = (p y q  x) ,
w =
dt
dt
b



where x , y , and z are the coordinates of the point C relative to the axes that are parallel to
AXY Z and have origin at G . Since there is no slippage at the point C, we have
u =

b+
+ qa,
b
b+
pa,
v  = [rx p(z a) ry]
b
b+
,
w = (py qx)
b
u = [q(z a) ry]

where
b+
b+
b+
, y
, a + (z a)
b
b
b
are the coordinates of the point C relative to the axes AXY Z. We obtain







b
b
b dx




+ q q 1+
(z a) r r 1 +
y = 0,

dt







b dy
b
b
+ r r 1 +
x p p 1 +
(z a) = 0,

dt








b
b
b dz




+ p p 1+
y q q 1+
x = 0,
dt

(15)

then
x2 + y 2 + (z a)2 = const = b2 .

(16)

Denote by R the reaction of the inner ball on the outer one. The reaction is applied at the
point C and let its components relative to the axes AXY Z be Rx , Ry , and Rz . Since the reaction
that the outer ball exerts on the inner one equals in magnitude and is opposite to R, we get



dp

=
(yR
+
a
Ry ,

zR
)
1
+
M
K
z
y

dt
b
b




2 dq
(17)
= (zRx xRz ) 1 +
a Rx ,
MK

dt
b
b




dr

M (K 2 a2 ) = (xRy yRx ) 1 +
,
dt
b
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CHAPLYGIN

The rst two equations describe the change of the angular momentum of the outer ball about the
axes AX and AY .
The motion of the center of gravity of the inner ball is governed by the following equations:

d2 x
dq

m
+ ma = Rx ,

2
dt
dt

dp
d2 y
(18)
m 2 ma = Ry ,

dt
dt

m d x = R mg.
x
dt2
The rotation of this ball is governed by the equations:

2 dp

= (zRy yRz ) a Ry ,
mk

dt
b
b

dq
(19)
= (xRz zRx ) + a Rx ,
mk2

dt
b
b

mk2 dr = (yRx xRy ).

dt
b
Eliminating successively Rx , Ry , and Rz from the rst equations of (17), (18) and (19), then
from the second equations, and, nally, from the last equations of (17) and (19), we get integrable
equations, which yield



dy
b 

2
2
2

p
= 0,
+
ma
)(p

)
+
mk

ma
1
+
(M
K

dt




dx
b 
2
2
2
(20)
q ma = 0,
(M K + ma )(q ) + mk 1 +

dt




b 

M (K 2 a2 )(r ) + mk2 1 +
r = 0,

where , , and are arbitrary constants. Relations (20) are exactly the integrals that follow from
the above general theory for this problem; they could be written directly using the considerations
from 2. Further, equations (17) give

 2

dq

K a2 dr
dp
= 0.
(21)
x +y + za
dt
dt
b+
K2
dt
From equations (19) we get
x

dq 
dr 
dp
+y
+ (z a)
= 0.
dt
dt
dt

(22)

From (17) and (18) we obtain

 2

dq 1
d x
d2 y
M (K 2 a2 )b dr
dp
y 2 x 2 =
.
x +y +
dt
dt a
dt
dt
ma(b + ) dt

(23)

Finally, equations (15) yield

p

b + dx
b + dy
b + dz
dx
dy
dz
+ q + r p
q
r
= 0.
dt
dt
dt
dt
dt
dt

(24)

Multiplying equation (23) by a2 /K 2 and summing with (21) we obtain

 2

dq
dr
a
d2 x
d y
ba M + m dr
dp
.
x 2 y 2 =
x + y + (z a) + 2
dt
dt
dt K a2
dt
dt
b + m dt
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ON SOME GENERALIZATION OF THE AREA THEOREM

209

Multiplying this equation by (b + )/, summing with equations (24) and (22) and integrating
with respect to time we get






b+
b+
b+



= p p
x+ q q
y+ r r
(z a)



(25)
dy
dx
ba M + m
a(b + )
x y
+
r + ,
=
(K 2 a2 )
dt
dt
m
where is an abbreviation for the left-hand side of the equation and is an arbitrary constant.
Multiplying the rst equation of (15) by y and adding with the second equation multiplied by x
we get




dy
dx
b+ 2
b

b (z a) =
x y
.
r r

dt
dt
Replacing by its value from equation (25), r  by the expression derived from equation (20), and
introducing the notation
=x

dx
dy
y ,
dt
dt

we obtain a relation between r, z and :



b+
a(b + )
M (K 2 a2 )
r b2 + (z a)

(r ) +
2
(b + )mk

(K 2 a2 )
b
ba M + m
r + (z a) = ,
+(z a)
m

or simplifying


M b2 K 2 a2
ba M + m
2b +
(z a) + b
+
r
m

mk2 b +


b
a(b + )
M (K 2 a2 )b2
(z a) +

(z a) .
=
mk2 (b + )
(K 2 a2 )

(26)

(27)

Introduce the notation:

aM + m
,
b m

a2 = 2 ,
b
(b + )a
,
a3 =
(K 2 a2 )b2

a1 =

M 2 K 2 a2
,

mk2
b+
M 2 K 2 a2
,
b2 =

mk2
b+


a2
bK 2
M
,
b3 =
+
a(b + ) K 2 m
b1 = b + +

z a = .
Then equation (27) gives

(28)


r=

b2 + a2
+
b1 a1


1
+ a3
b
.
b1 a1

From equations (21) and (23) we get




(z a)(K 2 a2 )
a2
b(K 2 a2 ) M
dr
d
+ 2
,
a+
=
2
dt
K
b+
m K
dt
or, using the notation adopted,
K 2 a2
dr
d
=a
(b3 + ) .
2
dt
K
dt
REGULAR AND CHAOTIC DYNAMICS

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210

CHAPLYGIN

Dierentiating (29) with respect to time we retrieve



a1
1
+ b1 a3
+ a3 d
dr a1 b2 + b1 a2 d
d
b
b
=
+
+
.

dt
(b1 a1 )2 dt
(b1 a1 )2 dt b1 a1 dt
From the last two expressions we get the equation



1
2
2 ( b3 ) a3 +
d
b
1 a K a

d
K2
b1 a1
(30)


a1
+ b1 a3 2
a1 b2 + b1 a2 +
K a2
b
a( b3 ).
=
(b1 a1 )2
K2
Denoting

1
as , equation (30) can be written as
b1 a1


a1
+ b1 a3 [(b1 a1 b3 ) 1]d
d
b
=



+l
a1
a21 K 2
a3
[(b1 a1 b3 ) 1] b1 a3 +
b
a(K 2 a2 )
n2 d
n1 d
+
,
=
1 2

(31)

where 1 , 2 are the roots of the denominator, and n1 , n2 are constants such that
n1 + n2 = 1, n1 2 + n2 1 =

1
,
b1 a1 b

(32)

and
l=

a1 b2 + a2 b1
.
a1
+ b1 a2
b

Integrating (31) with respect to time we get

+ l = C( 1 )n1 ( 2 )n2 ,
or using (28)
+ l = A( 2 )n2 (1 )n1 (b1 a1 ),
where 1 and 2 are the roots of the coecient of

(33)

d
in equation (30). From (32) we get the
d

expressions for n1 and n2

n1 =

1 b3 b1 a1 2
b3 2 b1 a1 1

, n2 =

.
2 1 b1 a1 b3
2 1 b1 a1 b3

The motion of the center G of the inner ball relative to the axes AXY Z will be determined if
we nd the dependence of on time. Indeed, represent (26) in the form
d
,
dt
where r and are the polar coordinates of the point G projected on the plane AXY . Since
r 2 = b2 2 and (33) takes place, we can nd as a function of time. From equations (15), (20),
(27), and (29) we can express as a function of , and, consequently, as a function of time. And
therefore, the problem will be solved completely.
= r2

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ON SOME GENERALIZATION OF THE AREA THEOREM

211

There are two ways to nd the dependence of on time. First, we can use the energy integral.
In this integral, all variables, except for and d
dt , can be replaced by their expressions in terms
of . The second way implies the use of the dierential equations of the problem. The rst way is
cumbersome, and therefore we prefer the second one. From equations (15) we obtain





b
1
x
d
dy


p p 1 + = b2 + b y dt dt ,



(34)


y
dx
d
b
1

q q 1 +
= 2 +
x
.

b
b
dt
dt
Using (17), (18) and (19) we construct an expression

dq
d2 x
2
2 dq
+
mk
.
+
(ma
+
M
K
)

dt2
dt
dt
and introduce and by the equations


b
2
2
,
ma + M K = mk 1 +





+ = 1,
a 1+
b
b
so





mk2
(b + )2 mk2

+
1+

M K2
b M K 2 b




ma2

ma2
,

1
+
= [i + h] = 1 +

M K2 M K2
b




ma
b mk2

+
.
[i + h] = 1 +
2
MK
bM K 2

We have
m
and similarly

(35)




s xRz
b
d2 x
2 d

q
=
+
mk

q
1
+
2
dt
dt

b i + h




s yRz
b
d2 y
2 d

p p 1+
=
m 2 + mk
dt
dt

b i + h

where the meaning of i and h is clear from the formula for and


mk2
2
ma2
+
.
1
+
s=1+
M K2 M K2
b
Using expressions (34), we get




mk2 d mk2 dx d2 x dy d2 y d d2
s Rz d
dx d2 x dy d2 y
+

.
+

+
+

=
m
2
2
2
2
2
2
dt dt
dt dt
b
dt
b
dt dt
dt dt
dt dt
b i + h dt
Moreover, we have the equations
x2 + y 2 + 2 = b2 ,
dy
d
dx
x + y + = 0,
dt
dt
dt
dx
dy
= = l + A(1 )n1 (2 )n2 (b1 a1 ) = f ().
x y
dt
dt
REGULAR AND CHAOTIC DYNAMICS

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No. 2

2012

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212

CHAPLYGIN

Thus

dx
dt

2


+

dy
dt

2

d
dt
2
b 2

2

2 + 2
=

(37)

Taking into account the equation

d2
= Rz + mg
dt2
[that follows from (28), (18) and (37)], we rewrite equation (36) in the form

 
 2
 2 
2
d
d
d
2
2
 +
+ 2 2
+ 2 + 2 +

 (b )

2
dt
dt
dt
k

1+
b
(b2 2 )2


d2
k2 d2
s
k2
2=
g ,
2 
b
b dt
b i + h dt2
m

(38)

where  = f  () and  are derivatives of and with respect to . The last expression can be
simplied to
dv
+ v() + () = 0,
d
 2
and, therefore, can be integrated in quadratures. We will not write out these
where v = d
dt
quadratures since they are rather cumbersome. Instead, we will consider a particular case when all
the found formulas can be signicantly simplied.
The previous analysis imposed no restrictions on the radius of the rolling sphere. Recall that
in the original formulation we put a > b (Fig. 11), but nothing prevents us to consider the case
a > b. Thus, we know the motion of the system consisting of a truncated sphere A and a ball B.
A leg LKM C is attached to the sphere. A ball C of radius a is fastened to the leg and rolls over a
horizontal plane D. The sphere A and the ball C are concentric. Suppose that a = 0 and, therefore,
the center of the sphere is xed.

Fig. 11

When a = 0 equations (20) can be written as

q
r
M K 2
p
=
=
=
.
p q
r
mk2 (b + )
Expression (25) gives









b
b
b



x+ q q 1+
y r r 1+
= .
= p p 1+

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ON SOME GENERALIZATION OF THE AREA THEOREM

213

From equation (27) we get

bAr = ,
(b1 + A) = b1 b

2 2

A A.
k2
b

where , , , and are arbitrary constants,

b1 = b + +

M K 2 2
,
m (b + )k2

A=

M K2
,
m(b + )

=x

dx
dy
y .
dt
dt

From (35) and (36) we obtain

k2 =

Ab
b1

moreover
i = 0,

d
s
= 1,
= 0,
bh
dt

Thus, instead of (36) we have



A

m = Rz ,
m(x
x + y y + ) 1 +
b1

(39)

where the dot denotes dierentiation with respect to time. By virtue of (38), equation (39) can be
rewritten as


A

mg = 0,
m(x
x + y y + ) 1 +
b1
from which
x 2 + y 2 + 2 2

g
= H.
a + bA1

Using (37) we obtain an ordinary dierential equation in and, therefore, an expression for in
elliptic functions of time.
Note that if = 0, then = const and the center of the ball B moves as a spherical pendulum
in a gravity eld with a modied gravitational constant
g
.
1 + bA1
Moreover, both balls rotate uniformly around the axis AZ.
9. Consider an application of the theorem from 4. Consider a ball whose mass is distributed
symmetrically about its center a dynamically symmetric about its center G. The ball is rolling over
an inclined plane (Fig. 12) and touches it at a point A. Inside the ball there is a solid body, bounded
by an arbitrary convex smooth surface. At the point of contact C, the body exerts reaction N which
is directed along GC. Choose the axes as in 7 and let M and m be the masses of the ball and the
inner body, the center of gravity of the body G have coordinates x, y, z relative to the moving axes,
, , be the coordinates of the point G relative to the xed axes. Then Nx , Ny , Nz and Rx , Ry , Rz
are the projections of the reaction N and the reaction exerted by the plane O1 X1 Y1 on the ball.
Finally, denote by p, q, r and Jx , Jy , Jz the components of the angular velocity and the moments of
inertia of the ball with respect to the moving axes.
REGULAR AND CHAOTIC DYNAMICS

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2012

214

CHAPLYGIN

Fig. 12

Since the external forces applied to the ball cross the axes AZ, there is an obvious integral of
motion
Jz r = const.

(40)

Using the material of 4 we can nd two additional integrals. Indeed, the motion of the point G
is governed by the equations
 2

d x d2

+
= Nx + mg sin ,
m

dt2
dt2


 2
d y d2
(41)
+ 2 = Ny ,
m

dt2
dt

d2 z

m 2 = Nx + mg cos .
dt
The projections of the angular momentum of the ball on the axes AX and AY are
Jx p M av, Jy q + M au,
where u and v are the projections of the sliding velocity at the point A on the same axes. Using 4,
we get
d
(Jx p M av) = aNy ,
dt
d
(Jy q aM u) = aNx .
dt
From the last equations and (41) we obtain integrals


dy d
+
Jx p + M av = const,
am
dt
dt


dx d
+
+ Jx q + M au = magt sin + const.
am
dt
dt

(42)

Further analysis is signicantly simplied if some additional assumptions are adopted. Suppose
the inner body and the ball are dynamically symmetric about their centers and there is no slippage
at the point A. In this case, the rotation of the inner body relative to its center is exactly as that
described by Poinsot and does not inuence the motion of the center G .
We have
x
y
za
,
(43)
Nx = N, Ny = N, Nz = N
b
b
b
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ON SOME GENERALIZATION OF THE AREA THEOREM

215

where b = GG ,
d
= qa,
dt
Jx = Jy = M K 2 = const,

d
= pa,
dt
Jz M = (K 2 a2 ),

and the integrals (40) and (42) can be rewritten as

r = const,






M K 2 d
M K2
dy

+ 1+
= const = 1 +
v0 ,

ma2 dt
ma2

dt 

M K 2 d
dx

+ 1+
= const + gt sin

dt
ma2 dt




M K2

u0 + gt sin ,
= 1+
ma2

(44)

Using (41), (43) and (44), we get

M K2
x
d2 x
M K2
+
mg
sin

=
N
,
ma2 + M K 2 dt2
b
ma2 + M K 2
y
d2 y
M K2
= N ,
m
2
2
2
ma + M K dt
b
2
za
d z
mg cos .
m 2 = N
dt
b
m

Denoting

M K2
ma2 +M K 2

as 2 and introducing the notation

x1 = 2 x, y1 = 2 y, z1 = (z a),

the last equations become

x1
d2 x1

= 4 2 + mg 2 sin ,
m

dt

y1
d2 y1
m 2 = 4 2,

dt
b

2z

z1
d

1
m
= 2 2 mg cos ,
2
dt
b

(45)

where = N b 2 . Equation (16) yields

z12
x21 + y12
+
= 1;
4 b2
2 b2
This equation describes a spheroid with center G. In addition, consider another coaxial spheroid,
which diers from the rst one only in the length of the Z-axis which equals 2b. Let g be the
projection of G on the plane O1 X1 Y1 Z1 . Move both spheroids in the direction Ag such that the
point G reaches the second spheroid (Fig. 13). The coordinates of the common center O of these
spheroids relative to the axes AXY Z are
x x1 = (1 2 )x, y y1 = (1 2 )y, a.
Let the line G g intersect the rst spheroid at the point C. Then, the coordinates of the point G
and C relative to the axes that are parallel to AXY Z and has origin at the point O are
x1 , y1 ,

z1
= z a, and x1 , y1 , z1

respectively.
REGULAR AND CHAOTIC DYNAMICS

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CHAPLYGIN

Fig. 13

Equations (45) show that the point C moves over the rst spheroid as a heavy mass m inside
the same but stationary spheroid as if the gravitational constant was

g 4 sin2 + 2 cos2
and the acceleration due to gravity made an angle with the axis AZ such that
tan = tan .
Let us nd the motion of the ellipsoids center relative to the xed axes; the coordinates of the
center O are
x = + x x1 = + (1 2 )x,
y  = + y y1 = + (1 2 )y,
z  = a.
From (44) we get
dy 
dx
= u0 + g(1 2 )t sin ,
= v0 .
dt
dt
Consequently, the point O moves in a plane parallel to AXY along a parabola whose axis of
symmetry is directed down the inclined plane.
The angular velocity p, q, r and the position of the point A determine the motion of the outer
ball. The components p, q, r can be found from (44). With the knowledge of the position of the
point C the position of the point A is easy to nd. Actually the projection g of C, the point B,
where the axis of the spheroid intersects the plane, and the point A are on the same line. Moreover
AB : Bg =

1 2
ma2
=
.
2
M K2

Thus, the problem is reduced to the integration of equations (45), which dene the position of
the point C. The energy integral is






dy1 2
dz1 2
dx1 2
+
+
2g(x1 2 sin z1 cos ) = h.
dt
dt
dt
REGULAR AND CHAOTIC DYNAMICS

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ON SOME GENERALIZATION OF THE AREA THEOREM

217

Another integral we can nd only if the plane AXY is horizontal. In such a case = 0 and we have
dy1
dx1
y1
= l.
dt
dt
Introducing new coordinates and s by the formulas

x1 = b 2 cos 1 s2 ,

y1 = b 2 sin 1 s2 ,
z1 = bs,
x1

such that
z12
x21 + y12
+
= 1,
4 b2
2 b2
we get the following equations in and s
b2 4 (1 s2 )

2 2

b
and hence

ds
dt

d
= l,
dt

2
[1 (1 2 )s2 ] = (h 2gb 2 s)(1 s2 )



t + = b 


1 (1 2 )s2
(h

2gb 2 s)(1

s2 )

l2
b2 4

l2
,
b2 4

d.


This equation shows that s, and hence = x21 + y12 oscillate between two limit values. The
trajectories of the points A and B relative to the spheroid are similar to a gerpoloid, i.e. each
trajectory is enclosed between two concentric circles with center at the point B and does not have
inection points. In this case, the spheroid moves rectilinearly and uniformly.

REGULAR AND CHAOTIC DYNAMICS

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No. 2

2012