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The distribution of mass is non-uniform and the centre of mass does not coincide with the geometric centre.\n  The symmetric case, with moments of inertia I_1=I_2, is integrable and the motion is completely regular. Three known conservation laws are the total energy E, Jellett's quantity Q_J and Routh's quantity Q_R.\n  When the inertial symmetry I_1=I_2 is broken, even slightly, the character of the solutions is profoundly changed and new types of motion become possible. We derive the eq"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"0907.1472","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"nlin.SI","submitted_at":"2009-07-09T09:59:28Z","cross_cats_sorted":["nlin.CD","physics.class-ph"],"title_canon_sha256":"85b3f7e69df4b988fc04db70c2bf6eafecf91438637ff97e92430d74c15a1e23","abstract_canon_sha256":"44b206fa5b9872a5e1e5f7448f1fc1bdb80a692657fb783debd09fdd668711b2"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-17T23:40:21.284878Z","signature_b64":"eg1T4sdVE69NkuZ6Rv6FEkKzTyrRcGEDifZHAecnAIGmg67doyPk0cY3qtS4GnFWflbRVxfEhTobPbszT79aAw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"3086c7b662fca9d139de2a851e5814bcc2d14b8cb7081da4d1344fb5395284ee","last_reissued_at":"2026-05-17T23:40:21.284225Z","signature_status":"signed_v1","first_computed_at":"2026-05-17T23:40:21.284225Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Precession and Recession of the Rock'n'roller","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["nlin.CD","physics.class-ph"],"primary_cat":"nlin.SI","authors_text":"Miguel D. Bustamante, Peter Lynch","submitted_at":"2009-07-09T09:59:28Z","abstract_excerpt":"We study the dynamics of a spherical rigid body that rocks and rolls on a plane under the effect of gravity. The distribution of mass is non-uniform and the centre of mass does not coincide with the geometric centre.\n  The symmetric case, with moments of inertia I_1=I_2, is integrable and the motion is completely regular. Three known conservation laws are the total energy E, Jellett's quantity Q_J and Routh's quantity Q_R.\n  When the inertial symmetry I_1=I_2 is broken, even slightly, the character of the solutions is profoundly changed and new types of motion become possible. 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