Demchenko’s nonholonomic case of a gyroscopic ball rolling without sliding over a sphere after his 1923 Belgrade doctoral thesis
Journal: Theoretical and Applied Mechanics
Year: 2020

We present an integrable nonholonomic case of rolling without sliding of a gyroscopic ball over a sphere. This case was introduced and studied in detail by Vasilije Demchenko in his 1923 doctoral dissertation defended at the University of Belgrade, with Anton Bilimovic as the advisor. These results are absolutely unknown to modern researchers. The study is based on the C. Neumann coordinates and the Voronec principle. By using the involved technique of elliptic functions, a detailed study of mot