2016/11/15 by Ricci, Francesco, Frosali, Giovanni
#Classical Physics (physics.class-ph) #FOS: Physical sciences
paper · doi:10.48550/arxiv.1611.07796
Multibody systems usually give rise to complex nonlinear dynamics, and the bicycle is not an exception. Even a simple model as the Two-Mass-Skate presents a long expression of the kinetic energy, making difficult to write explicitly the equations of motion. Instead of linearising or approximating the model, we will overcome this issue by using a functional expression of the kinetic energy. With introduction of appropriate nonlinear functions, the equations of motion are written in a form that can be easily handled despite their complexity. A stability analysis of the dynamics is then conducted.