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On the Normal Force and Static Friction Acting on a Rolling Ball Actuated by Internal Point Masses

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 نشر من قبل Stuart Rogers
 تاريخ النشر 2018
  مجال البحث فيزياء
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The goal of this paper is to investigate the normal and tangential forces acting at the point of contact between a horizontal surface and a rolling ball actuated by internal point masses moving in the balls frame of reference. The normal force and static friction are derived from the equations of motion for a rolling ball actuated by internal point masses that move inside the balls frame of reference, and, as a special case, a rolling disk actuated by internal point masses. The masses may move along one-dimensional trajectories fixed in the balls and disks frame. The dynamics of a ball and disk actuated by masses moving along one-dimensional trajectories are simulated numerically and the minimum coefficients of static friction required to prevent slippage are computed.



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