On Collisions in Nonholonomic systems

TL;DR

This paper introduces a new framework for analyzing collisions in nonholonomic systems by defining weak solutions to the Lagrange-d'Alembert equations, and applies it to specific cases like a rotating ball colliding with a rough floor.

Contribution

It proposes a novel concept of weak solutions for nonholonomic systems with collisions, enabling detailed analysis of collision dynamics.

Findings

Developed a concept of weak solutions for collision analysis

Applied the framework to a rotating ball and rough floor collision

Provided insights into the dynamics of nonholonomic collisions

Abstract

We consider nonholonomic systems with collisions and propose a concept of weak solutions to Lagrange-d'Alembert equations. In the light of this concept we describe dynamics of the collisions. Several applications have been investigated. Particularly the collision of rotating ball and the rough floor has been considered.