  This paper investigates the possibility of the motion control of a ball with
a pendulum mechanism with non-holonomic constraints using gaits - the simplest
motions such as acceleration and deceleration during the motion in a straight
line, rotation through a given angle and their combination. Also, the
controlled motion of the system along a straight line with a constant
acceleration is considered. For this problem the algorithm for calculating the
control torques is given and it is shown that the resulting reduced system has
the first integral of motion.

Dynamical Systems;Classical Physics