%0 Journal Article
%T The motion of the 2D hydrodynamic Chaplygin sleigh in the presence of circulation
%A Yuri N. Fedorov
%A Luis C. Garc¨Şa-Naranjo
%A Joris Vankerschaver
%J Physics
%D 2012
%I arXiv
%R 10.3934/dcds.2013.33.4017
%X We consider the motion of a planar rigid body in a potential flow with circulation and subject to a certain nonholonomic constraint. This model is related to the design of underwater vehicles. The equations of motion admit a reduction to a 2-dimensional nonlinear system, which is integrated explicitly. We show that the reduced system comprises both asymptotic and periodic dynamics separated by a critical value of the energy, and give a complete classification of types of the motion. Then we describe the whole variety of the trajectories of the body on the plane.
%U http://arxiv.org/abs/1201.5054v2