Figure 2.

The time history curves and phase trajectories of the two motion modes of the mass ball and the slider are plotted. (a–d) The static mode with ${\overline{I}}_0=0$. (e–h) The self-translation mode with ${\overline{I}}_0=0.6$. We configured the remaining system parameters as follows: $C=0.3,$ $\overline{K}=3.8$, $\overline{\beta }=0.08$, $\overline{\delta }=0.25$, $\lambda =2.0$, ${\mu }_1=0.01$, $R=1.8$, $\overline{g}=2.0$, and ${\overline{v}}_0=0.5$. The mass ball and slider could exhibit two types of motion modes: static mode and self-translation mode.