Dynamics of the Chaplygin ball on a rotating plane

This paper addresses the problem of the Chaplygin ball rolling on a horizontal plane which rotates with constant angular velocity. In this case, the equations of motion admit area integrals, an integral of squared angular momentum and the Jacobi integral, which is a generalization of the energy integral, and possess an invariant measure. After reduction the problem reduces to investigating a three-dimensional Poincare map that preserves phase volume (with density defined by the invariant measure). We show that in the general case the system's dynamics is chaotic.