The Newtonian mechanics of a Vibrot
  A mechanical model was developed to describe the behaviour of a device able to transform vibrations into rotations, named Vibrot. The theoretical model, developed in the newtonian formulation of mechanics, was able to reproduce qualitatively all the experimental results existing in the literature, and quantitatively some of them. 
Harol Torres, Victor M. Freixas and Danyer P\'erez Ad\'an
cond-mat.soft