Hamiltonisation, measure preservation and first integrals of the multi-dimensional rubber Routh sphere

Abstract

We consider the multi-dimensional generalisation of the problem of a sphere, with axi-symmetric mass distribution, that rolls without slipping or spinning over a plane. Using recent results from Garc?a-Naranjo [21] and Garc?a-Naranjo and Marrero [22], we show that the reduced equations of motion possess an invariant measure and may be represented in Hamiltonian form by Chaplygin?s reducing multiplier method. We also prove a general result on the existence of first integrals for certain Hamiltonisable Chaplygin systems with internal symmetries that is used to determine conserved quantities of the problem.