On generalized nonholonomic Chaplygin sphere problem

TL;DR

This paper investigates the Poisson structure of the generalized nonholonomic Chaplygin sphere problem, revealing it as a non-trivial deformation of the standard Poisson structure on e^*(3).

Contribution

It introduces a linear Poisson structure for the problem and proves its non-trivial deformation of the canonical structure.

Findings

Identifies a linear Poisson structure for the problem

Proves the structure is a non-trivial deformation of the canonical Poisson structure

Provides insights into the geometric properties of the generalized problem

Abstract

We discuss linear in momenta Poisson structure for the generalized nonholonomic Chaplygin sphere problem and prove that it is non-trivial deformation of the canonical Poisson structure on e^*(3).