ISSN 1028-3358, Doklady Physics, 2007, Vol. 52, No. 4, pp. 225227. Pleiades Publishing, Ltd., 2007.

Original Russian Text Yu.D. Pleshakov, 2007, published in Doklady Akademii Nauk, 2007, Vol. 413, No. 4, pp. 478480.

MECHANICS

New Integrable Cases in Classical Problems

of Dynamics of Rigid Bodies
Yu. D. Pleshakov
Presented by Academician V.F. Zhuravlev October 5, 2006

Received June 16, 2006

PACS numbers: 45.40.-f

DOI: 10.1134/S1028335807040131

In this paper, we consider the problem of the rota- Equations of motion (1), (2) have three first integrals
tional motion of a charged gyroscope in a permanent
homogeneous magnetic field and in an axisymmetric Iw w + 2G g 2U ( g ) = const, (3)
force field, i.e., the so-called generalized Grioli 1
problem. ( Iw e ) g --- g g = const, (4)
2
The equations of motion for a charged gyrostat are
written out in the form [1] g g = 1, (5)
which are insufficient to provide the integrability of
Iw Eqs. (1), (2).
= Iw w + w e + w g + g G + U g, (1) Insofar as the Jacobi theorem on the last multiplier
is applicable to Eqs. (1), (2), for the integrability in
quadratures of the equations of motion in the Grioli
g = g w. (2) problem, it is necessary to find the fourth additional
independent first integral that does not depend explic-
Here, I is the inertia tensor for a rigid body with respect itly on time.
to an immobile point: In the Grioli problem, two general cases of the inte-
grability of equations of motion are known. They were
I I I found by Grioli [1] and by Lunev [2]. These cases coin-
1 12 13
cide (by virtue of the analogy between the Grioli and
I = I 21 I 2 I 23 , I i j = I ji ; Kirchhoff cases) with the Klebsh [3] and Steklov [4]
cases in the Kirchhoff problem.
I 31 I 32 I 3 We now indicate the cases of the integrability in
quadratures of equations of motion for the Grioli
e is the gyrostatic moment, i.e., the vector constant for problem.
the body; U(g) is the force function; G is the magnetic The following theorem is valid.
moment of electric currents, i.e., the vector constant for Theorem 1. If the relations
the body; is the charge-distribution tensor: = E +
ET 1 spE, j = 1 sp I 2I (1 is the unit matrix), and I 12 = I 13 = 12 = 13 = 0, (6)
G = x, = const, e 1 = G 1 = 1 = 0, (7)

1 12 13 U U U
= 21 2 23 , i j = ji . 2 -------- = 3 -------- , -------- = 0, (8)
3 2 1
31 32 3
( I 1 I 2 ) 3 I 23 2 = ( I 2 2 I 23 3 ), (9)
( I 3 I 1 ) 2 + I 23 3 = ( I 3 3 I 23 2 ), (10)
Bauman Moscow State Technical University, ( 1 3 ) 2 + 23 3 = 1 3 , (11)
Vtoraya Baumanskaya ul. 5, Moscow, 107005 Russia
e-mail: udpleshakov@mail.ru ( 2 1 ) 3 23 2 = 1 2 , = const (12)

225
226 PLESHAKOV

are true, then, there exists the fourth linear first integral are valid, then there exists the fourth independent first
integral
( I 2 2 I 23 3 ) 2 + ( I 3 3 I 23 2 ) 3
2V = Xw Iw + 2Yg Iw + Zg g
+ 1 ( 2 2 + 3 3 ) + ( e 3 2 e 2 3 ) = 0.
1
(13)
+ 2Iw e + 2W g = const. (21)
The following theorem is also valid. Here,
Theorem 2. If conditions (6)(12) of Theorem 1 are
fulfilled and, in addition, relationships W 1 = ( 1 Y 1 )e 1 , W 2 = ( 1 Y 1 )e 2 ,
(22)
2 I 2 3 I 3 = 0, 1 I 1 2 I 2 + 23 I 23 = 0, W 3 = ( 1 Y 1 )e 3 , e1 0
(14)
23 ( I 2 I 3 ) + I 23 ( 2 3 ) = 0 and the equations of motion in the Grioli problem are
integrable in quadratures.
are true, and linear integral (13) takes place, then there The equations of motion for the Grioli problem can
exists the fifth independent first integral be written out in the Hamiltonian form provided that
the linear inverse replacement of the variables
2V = Xw Iw + 2Yg Iw + Zg g
+ 2 Iw e + 2W g + 2 X 1 ( G g U ( g ) ) = const, Iw = P + Icg + e, Ic = E (23)
(15) is performed. Then, the Hamiltonian of the Grioli prob-
lem and first integral (21) take the form
where elements of the matrices X, Y, and Z are deter-
mined by the expressions
2H 1 = aP P + 2cg P + bg g
X 13 = X 12 = Y 12 = Y 13 = Z 12 = Z 13 = 0, (16) + 2P q + 2c g = const, (24)

2V 1 = AP P + 2g P + Bg g
X (I 1 2 I 3 ) = 0, X 23 ( I 2 I 3 ) + I 23 ( X 2 X 3 ) = 0,
+ 2P d + 2r g = const. (25)
( 123 ) (17)
X 23 = I 23 ,
Here,
Y 1 Y 3 = ( 1 3 ), Y 2 Y 3 = ( 2 3 ), a = I ,
1
c = aE,
T
b = c Ic, q = ae,
(18) (26)
Y 23 = 23 , T
c = c e,
Z 1 = Z 3 + Y 1 3 Y 3 1 , Z 2 = Z 3 + Y 2 3 Y 3 2 ,
d = Ae + e, r = W + ( Y + c X + c I )e, (27)
T T
(19)
Z 23 = Y 23 2 Y 2 23 ,
= Y + Xc,
T
A = Xa, B = Z + 2YIc + c IXc.
W 1 = 0, W 2 = ( 1 Y 1 )e 2 , W 3 = ( 1 Y 1 )e 3 . (28)
(20)
Therefore, the following theorem takes place.
The symbol denotes that the sum is formed by the Theorem 4. If the Hamiltonian of the Grioli prob-
( 123 ) lem is determined by the expression
circular permutation of the subscripts (123). Hence, the
equations of motion in the Grioli problem are inte- 2H 2 = AP P + 2g P + Bg g
grated in quadratures. + 2P d + 2r g = const, (29)
Comment. Direct calculations show that the five where the elements of the matrices A, , and B and vec-
first integrals (3)(5), (13), (15) are functionally inde- tors d and r are determined by relationships (26)(28),
pendent only under the condition that the tensor of the and the elements of the matrices a, c, b, X, Y, Z and the
charge distribution is nonzero, i.e., 0. The presence vector W meet conditions (6), (14), (16)(19), (22),
of five independent first integrals makes it possible to then there exists the fourth independent first integral
integrate in quadratures the equations of motion of the
Grioli problem in an explicit form. 2V 2 = aP P + 2cg P + bg g
Theorem 3. If conditions (6) of Theorem 1, condi- + 2P q + 2c g = const. (30)
tions (14), (16)(19) of Theorem 2, and the conditions
Hence, the equation of motion in the Grioli problem is
G g U(g) = 0 integrable in quadratures.

DOKLADY PHYSICS Vol. 52 No. 4 2007

 NEW INTEGRABLE CASES IN CLASSICAL PROBLEMS OF DYNAMICS 227

The following statement is valid. and, in addition, assume

Statement. If the canonical replacement of the vari- 3 ( I 1 I 2 ) 3 ( 2 1 ) 23 2
ables I 23 = 0, = ------------------------
- = ---------------------------------------------
-, (34)
2 I 2 1 2
PP+kg
is performed, where the components of the vector k are 2 I3( I1 I2)
1 I 1 ( I 2 I 3 )
( 123 )
----- = ------------------------ = ---------------------------------------, (35)
determined by the relationships 3 I2( I3 I1) 2 23 I 2 ( I 3 I 1 )
23 32 13 12 then the matrix elements are connected with each other
k 1 = --------------------
-, k 2 = ------
-, k 3 = ------
-, by the relationships
A2 + A3 A1 A1
( 1 I 1 2 I 2 ) ( I 3 I 1 ) + ( 1 I 1 3 I 3 ) ( I 2 I 1 ) = 0,
then the matrices A, , and B are simultaneously (36)
23 I 2 I 3 ( I 3 I 1 ) = ( 1 I 1 3 I 3 ) ( I 1 I 2 ),
reduced to the diagonal form with the help of the single 2 2

matrix of orthogonal transformations, with the ele-

ments of the transformed diagonal matrices A , , and 23 = ( 2 1 ) ( 3 1 ),
2
(37)
B being connected by one relationship only, namely, ( 2 1 )I 2 ( I 3 I 1 ) = ( 3 1 )I 3 ( I 1 I 2 ).

3 2 1 3 2 1 Hence, the conditions of Theorem 1 when relation-

----------------- + ----------------- + ----------------- = 0. (31) ships (33)(37) are true, where
A 1 A 2 A 3
= Ic + ( Ic ) 1 spIc, = b c Ic
1 T T
I = a ,
In this case, for 1 = 2 = 3 , the relation
determine the new integrable case of the Kirchhoff
problem, i.e., of the problem of the motion of a multiply
B 3 B 2 B 1 B 3 B 2 B 1 (32) connected (or for G = e = 0, singly connected) rigid
----------------- + ----------------- + ----------------- = 0
A 1 A 2 A 3 body by inertia in a perfect incompressible liquid.
Corollary 3. The solution obtained and determined
takes place. by Theorem 4 contains, as particular results, the classi-
Comment. Relationships (31), (32) determine the cal general cases of integrability of the Kirchhoff equa-
integrability conditions for the equations of motion in tions and equations of Klebsh [3], Lyapunov [5], and
terms of unambiguous functions of time [2, 6]. Steklov [4], as well as the generalization by Ruba-
novski [7] of the LyapunovSteklov case.
We now formulate several corollaries following
from theorems 1 4.
REFERENCES
Corollary 1. If the charge-distribution tensor is
zero, i.e., = 0, then the conditions of Theorem 1 deter- 1. D. Grioli, Atti Accad. Naz. Lincei, Cl. Sci. Fis. Mat. Nat.
mine a new particular case in the classical problem of a Rend. 35 (1/2), 35 (1963).
heavy rigid body carrying a gyrostat and executing the 2. V. V. Lunev, Collection of Guidance Articles on Theoret-
spherical motion in an axisymmetric force field. ical Mechanics (Moscow, 1981), Issue 11, pp. 147154
[in Russian].
Since there exists a mathematical analogy between 3. A. Clebsch, Math. Ann. 3, 238 (1870).
the Grioli and Kirchhoff problems, namely, the Hamil-
tonian in both problems has the same structure, the fol- 4. V. A. Steklov, On the Motion of a Rigid Body in Liquid
lowing corollary is valid. (Darre, Kharkov, 1893) [in Russian].
5. A. M. Lyapunov, Collected Papers (Moscow, 1954) [in
Corollary 2. If we determine the force function in Russian].
Theorem 1 as 6. V. V. Kozlov, Symmetry, Topology, and Resonances in
Hamiltonian Mechanics (Udmurt. Univ, Izhevsk, 1995).
0 0 0 7. V. N. Rubanovski, Vestn. Mosk. Gos. Univ., Ser. 1:
1 Mat., Mekh., No. 2, 99 (1968).
U = --- g g, = 0 2 1
23
2
0 23 3 1
(33) Translated by G. Merzon

DOKLADY PHYSICS Vol. 52 No. 4 2007