Formulation and performance of variational integrators for rotating bodies

Variational integrators are obtained for two mechanical systems whose configuration spaces are, respectively, the rotation group and the unit sphere. In the first case, an integration algorithm is presented for Euler’s equations of the free rigid body, following the ideas of Marsden et al. (Nonlinearity 12:1647–1662, 1999). In the second example, a variational time integrator is formulated for the rigid dumbbell. Both methods are formulated directly on their nonlinear configuration spaces, without using Lagrange multipliers. They are one-step, second order methods which show exact conservation of a discrete angular momentum which is identified in each case. Numerical examples illustrate their properties and compare them with existing integrators of the literature

Prediction of stable walking for a toy that cannot stand

Previous experiments [M. J. Coleman and A. Ruina, Phys. Rev. Lett. 80, 3658 (1998)] showed that a gravity-powered toy with no control and which has no statically stable near-standing configurations can walk stably. We show here that a simple rigid-body statically-unstable mathematical model based loosely on the physical toy can predict stable limit-cycle walking motions. These calculations add to the repertoire of rigid-body mechanism behaviors as well as further implicating passive-dynamics as a possible contributor to stability of animal motions.Comment: Note: only corrections so far have been fixing typo's in these comments. 3 pages, 2 eps figures, uses epsf.tex, revtex.sty, amsfonts.sty, aps.sty, aps10.sty, prabib.sty; Accepted for publication in Phys. Rev. E. 4/9/2001 ; information about Andy Ruina's lab (including Coleman's, Garcia's and Ruina's other publications and associated video clips) can be found at: http://www.tam.cornell.edu/~ruina/hplab/index.html and more about Georg Bock's Simulation Group with whom Katja Mombaur is affiliated can be found at http://www.iwr.uni-heidelberg.de/~agboc

On the Persistence of Homogeneous Matter

Some recent philosophical debate about persistence has focussed on an argument against perdurantism that discusses rotating perfectly homogeneous discs (the `rotating discs argument'; RDA). The argument has been mostly discussed by metaphysicians, though it appeals to ideas from classical mechanics, especially about rotation. In contrast, I assess the RDA from the perspective of the philosophy of physics. After introducing the argument and emphasizing the relevance of physics (Sections 1 to 3), I review some metaphysicians' replies to the argument (Section 4). Thereafter, I argue for three main conclusions. They all arise from the fact, emphasized in Section 2, that classical mechanics (non-relativistic as well as relativistic) is both more subtle, and more problematic, than philosophers generally realize. The main conclusion is that the RDA can be defeated (Section 6 onwards). Namely, by the perdurantist taking objects in classical mechanics (whether point-particles or continuous bodies) to have only temporally extended, i.e. non-instantaneous, temporal parts: which immediately blocks the RDA. Admittedly, this version of perdurantism defines persistence in a weaker sense of `definition' than {\em pointilliste} versions that aim to define persistence assuming only instantaneous temporal parts. But I argue that temporally extended temporal parts are supported by both classical and quantum mechanics.Comment: 100 pages, no figures; an extract of this paper is at: physics/040602

The motion of the 2D hydrodynamic Chaplygin sleigh in the presence of circulation

We consider the motion of a planar rigid body in a potential flow with circulation and subject to a certain nonholonomic constraint. This model is related to the design of underwater vehicles. The equations of motion admit a reduction to a 2-dimensional nonlinear system, which is integrated explicitly. We show that the reduced system comprises both asymptotic and periodic dynamics separated by a critical value of the energy, and give a complete classification of types of the motion. Then we describe the whole variety of the trajectories of the body on the plane.Comment: 25 pages, 7 figures. This article uses some introductory material from arXiv:1109.321

Relative equilibria in the unrestricted problem of a sphere and symmetric rigid body

We consider the unrestricted problem of two mutually attracting rigid bodies, an uniform sphere (or a point mass) and an axially symmetric body. We present a global, geometric approach for finding all relative equilibria (stationary solutions) in this model, which was already studied by Kinoshita (1970). We extend and generalize his results, showing that the equilibria solutions may be found by solving at most two non-linear, algebraic equations, assuming that the potential function of the symmetric rigid body is known explicitly. We demonstrate that there are three classes of the relative equilibria, which we call "cylindrical", "inclined co-planar", and "conic" precessions, respectively. Moreover, we also show that in the case of conic precession, although the relative orbit is circular, the point-mass and the mass center of the body move in different parallel planes. This solution has been yet not known in the literature.Comment: The manuscript with 10 pages, 5 figures; accepted to the Monthly Notices of the Royal Astronomical Societ