Abstract
The motion of an arbitrary, heavy rigid body on a horizontal plane with viscous friction is considered. It is shown that the limit set of trajectories of motion is represented by the set of motions of this body on a perfectly smooth surface without slippage. The set represents the intersection of the manifolds of steady motions of the body on perfectly smooth and perfectly rough surfaces and, depending on the dynamic and geometrical characteristics of the body, it may include the states of equilibrium, steady rotations about the vertical, uniform rolling motions along a fixed straight line, and regular processions. Examples of the motion of specific bodies are discussed.
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