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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? + …