  Majorana fermions are often proposed to be realized by first singling out one
Fermi surface without spin degeneracy via spin-orbit coupling, and then
imposing boundaries or defects. In this work, we take a different route
starting with two degenerate Fermi surfaces without spin-orbit coupling, and
show that by the method of "kink on boundary", the dispersive chiral Majorana
fermions can be realized in superconducting systems with $p\pm is$ pairings.
The surfaces of these systems develop spontaneous magnetizations whose
directions are determined by the boundary orientations and the phase difference
between the $p$ and $s$-component gap functions. Along the magnetic domain
walls on the surface, there exist chiral Majorana fermions propagating
unidirectionally, which can be conveniently dragged and controlled by external
magnetic fields. Furthermore, the surface magnetization is shown to be a
magnetoelectric effect based on a Ginzburg-Landau free energy analysis. We also
discuss how to use the proximity effects to realize chiral Majorana fermions by
performing the "kink on boundary" method.
