Abstract
This paper presents a new conceptualization of complex nonlinear mechanical systems and develops new and novel computational methods for determining their response to given applied forces and torques. The new conceptualization uses the idea of including particles of zero mass to describe the dynamics of such systems. This leads to simplifications in the development of their equations of motion and engenders a straightforward new computational approach to simulate their behavior. The purpose of the paper is to develop a new analytical and computational methodology to handle complex systems and to illustrate it through the study of an old unsolved problem in classical mechanics, that of a non-uniform rigid spherical shell rolling, without slipping, under gravity on an arbitrary dimpled bowl-shaped rigid surface. The new conceptualization provides the explicit equations of motion for the system, the analytical determination of the reaction forces supplied by the surface, and a straightforward computational approach to simulate the dynamics. Detailed analytical and numerical results are provided. The computations illustrate the complexity of the dynamical behavior of the system and its high sensitivity to the initial orientation of the shell and to the presence of any initial angular velocity normal to the surface.