The motion of a puck on a horizontal plane rotating about a vertical axis with dry friction is considered. It is assumed that the Coulomb law of dry friction is locally valid at each point belonging to the lower surface of the puck. The resultant force and friction torque are determined according to the dynamically consistent model of contact stresses. This problem generalizes the problem of motion of a puck on a fixed plane and the motion of a disk (a puck of zero height) on a rotating plane. The invariant sets of the problem are found and their properties are studied. In the case of a sufficiently small Coulomb friction coefficient, the general solution to the equations of motion of the puck is constructed as a power series expansion with respect to this coefficient.

中文翻译：

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圆盘在水平旋转面上的运动

考虑圆盘在具有干摩擦的情况下绕竖直轴旋转的水平面上的运动。假定干摩擦的库仑定律在属于圆盘下表面的每个点上都是局部有效的。合力和摩擦扭矩根据接触应力的动态一致模型确定。该问题概括了圆盘在固定平面上的运动和圆盘（零高度的圆盘）在旋转平面上的运动的问题。找到问题的不变集并研究其性质。在足够小的库仑摩擦系数的情况下，圆盘运动方程的一般解被构造为相对于该系数的幂级数展开。