the contact point have been investigated in several works. Magnus [@Magnus1974] and Karapetyan [@Karapetyan1981] incorporated a viscous type of friction force proportional to the velocity. Takano [@Takano2014] determined the conditions under which the reversal of rotation occurs with the viscous dissipation. Garcia and Hubbard [@GarciaHubbard1988] simulated equations with aerodynamic force, Coulomb friction in the spinning, and dissipation due to slippage, then they compared the results with a real rattleback. The dissipative rattleback models based on the contact mechanics with Coulomb friction have been developed by Zhuravlev and Klimov [@Zhuravlev2008] and Kudra and Awrejcewicz [@Awrejcewicz2012; @Kudra2013; @Kudra2015].

This paper is organized as follows. In the next section, we reformulate the rattleback dynamics under the no-slip and no dissipation condition in a physically transparent way. In the small-spin and small-oscillation approximation, the dynamics is reduced to a simplified three-variable dynamics. We then focus on the time required for reversal, or what we call *the time for reversal*, which is the most evident quantity that characterizes rattlebacks, and obtain a concise expression for the Garcia-Hubbard formula for the time for reversal [@GarciaHubbard1988]. In Sec. \[sec:simulation\], the results of the extensive numerical simulations are presented for various model parameters and initial conditions in order 