ИСТИНА

The dynamics of a rigid cylinder on a harmonically moving plane is investigated. The cylinder makes line contact with the surface and is subject to sliding and rolling friction. Sliding friction is governed by Coulomb law and rolling friction is governed by a multivalued law. For simplicity a two-dimensional model is considered. The angle between the plane and the horizon is a parameter of the problem. The problem is studied both in smoothed and switched frameworks. A qualitative analysis of the dynamics of the cylinder is given for different slopes of the plane. In the case of a horizontal plane, some periodic motions are obtained and their stability is investigated.