@article{ND_2012_8_4_a7,
     author = {Alexey V. Borisov and Ivan S. Mamaev and Dmitrii V. Treschev},
     title = {Rolling of a rigid body without slipping and spinning: kinematics and dynamics},
     journal = {Russian journal of nonlinear dynamics},
     pages = {783--797},
     publisher = {mathdoc},
     volume = {8},
     number = {4},
     year = {2012},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/ND_2012_8_4_a7/}
}