Sthenic incompatibilities in rigid bodies motion

When a rigid body slides with friction on a surface, hopping motion is observed: this is an everyday phenomenon. In rigid bodies mechanics, this phenomenon appears when it is no longer possible to compute the reaction contact forces. The difficulty is overcome by a motion theory involving velocity discontinuities. Velocity discontinuities may result either from an obstacle which makes impossible to compute the acceleration: this is a cinematic incompatibility or from the impossibility to compute the reaction forces: this is a sthenic incompatibility. We describe two examples: the Klein and Painlevé sthenic incompatibilities. Springer 2006

Dynamics of the Tippe Top via Routhian Reduction

We consider a tippe top modeled as an eccentric sphere, spinning on a horizontal table and subject to a sliding friction. Ignoring translational effects, we show that the system is reducible using a Routhian reduction technique. The reduced system is a two dimensional system of second order differential equations, that allows an elegant and compact way to retrieve the classification of tippe tops in six groups as proposed in [1] according to the existence and stability type of the steady states.Comment: 16 pages, 7 figures, added reference. Typos corrected and a forgotten term in de linearized system is adde