Motion of a Puck on a Rotating Horizontal Plane

Abstract

The motion of a puck on a horizontal plane rotating about a vertical axis with dry friction is considered. It is assumed that the Coulomb law of dry friction is locally valid at each point belonging to the lower surface of the puck. The resultant force and friction torque are determined according to the dynamically consistent model of contact stresses. This problem generalizes the problem of motion of a puck on a fixed plane and the motion of a disk (a puck of zero height) on a rotating plane. The invariant sets of the problem are found and their properties are studied. In the case of a sufficiently small Coulomb friction coefficient, the general solution to the equations of motion of the puck is constructed as a power series expansion with respect to this coefficient.