The purpose of this paper is to develop the motion equations of a flexible spherical shell rolling without slip on a flat surface. The motivation for this paper stems from tumbleweed rovers, which are envisioned to roll, deform, and bounce on the Martian surface due to the flexible nature of their thin walls. The motion equations are derived using a constrained Lagrangian approach and capture the rolling without slip nonholonomic constraint. Numerical simulations are performed to validate the dynamic model developed and to investigate the effect of the flexibility of the spherical shell on its trajectory.

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