2014 journal article
The geometry and integrability of the Suslov problem
JOURNAL OF MATHEMATICAL PHYSICS, 55(11).
In this paper, we discuss the integrability of a nonholonomic mechanical system—a generalized Klebsh–Tisserand case of the Suslov problem. Using the theory of Hamiltonization and the Poincaré–Hopf theorem we analyze the topology of the invariant manifolds and in particular describe their genus. We contrast the results with those for Hamiltonian systems.