Bifurcations of relative equilibria of a heavy bead on a rotating parabolic bowl with dry friction

The motion of a heavy bead on the surface of a parabolic bowl rotating at a constant angular velocity about its axis, which coincides with the vertical, is considered. It is assumed that the dry friction force acts between the bead and the bowl. The sets of nonisolated relative equilibria of the bead on the bowl are determined, and their dependence on the problem parameters is studied. The results are illustrated in the form of bifurcation diagrams.