@article{DAN_1991_321_3_a13,
     author = {V. V. Velichenko},
     title = {Matrix equations of motion of nonholonomic systems},
     journal = {Doklady Akademii Nauk},
     pages = {499--504},
     publisher = {mathdoc},
     volume = {321},
     number = {3},
     year = {1991},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/DAN_1991_321_3_a13/}
}