Note on a ball rolling over a sphere: Integrable Chaplygin system with an invariant measure without Chaplygin hamiltonization

Abstract

In this note we consider the nonholonomic problem of rolling without slipping and twisting of an ??-dimensional balanced ball over a fixed sphere. This is a ????(??)?Chaplygin system with an invariant measure that reduces to the cotangent bundle ??*?????1. For the rigid body inertia operator r I? = I? + ?I, I = diag(I1,...,In) with a symmetry I1 = I2 = ... =Ir ? Ir+1 = Ir+2 = ... = In, we prove that the reduced system is integrable, general trajectories are quasi-periodic, while for ?? ? 1, ?? ? 1 the Chaplygin reducing multiplier method does not apply.