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Firdaus E. Udwadia, Giandomenico Di Massa, “Sphere rolling on a moving surface: Application of the fundamental equation of constrained motion”, Simulation Modelling Practice and Theory, 19:4 (2011), 1118
A. V. Borisov, A. A. Kilin, I. S. Mamaev, “Kachenie odnorodnogo shara po dinamicheski nesimmetrichnoi sfere”, Nelineinaya dinam., 6:4 (2010), 869–889
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Igor Goncharenko, Mikhail Svinin, Shigeyuki Hosoe, “Dynamic Model, Haptic Solution, and Human-Inspired Motion Planning for Rolling-Based Manipulation”, Journal of Computing and Information Science in Engineering, 9:1 (2009)
A.V. Borisov, Yu.N. Fedorov, I.S. Mamaev, “Chaplygin ball over a fixed sphere: an explicit integration”, Regul. Chaotic Dyn., 13:6 (2008), 557–571
A. V. Borisov, I. S. Mamaev, V. G. Marikhin, “Explicit integration of one problem in nonholonomic mechanics”, Dokl. Phys., 53:10 (2008), 525