Large manufacturing tasks, such as aircraft assembly, require workers to collaboratively manipulate and transport large, heavy, high-inertia loads swiftly, often requiring them to change their contact locations with the load for fine manipulation in constrained spaces. Existing approaches to cooperative multi-robot load manipulation achieve slow quasi-static manipulation. Multi-robot cooperative transportation and manipulation of loads in constrained human environments will be expected to execute dynamic maneuvers transitioning multiple hybrid modes as old contacts are broken and new contacts made. Our research considers developing dynamically feasible motion plans for nonholonomic ballbot robots as well as associated geometric controllers that explicitly address the hybrid dynamics that arise due to the changing contact constraints of load manipulation.