Stability of disk motion on the rheological ground

In this paper a new mathematical model of the disk motion on the basis of the Kelvin body is constructed. Taking the hypothesis of a point contact with the drive base, a system of differential equations of the disk motion is derived in the form of modified Chaplygin equations involving generalized rheological response force, as well as three stationary constraint equations, two of which are nonholonomic. The analysis of the drive permanent movements stability was carried out. It is shown that the rectilinear motion of the disk and spinning around a vertical diameter are unstable in relation to the nutation angle $\theta$.