%0 Journal Article
%A Alexey V. Borisov
%A Ivan S. Mamaev
%A Ivan A. Bizyaev
%T The hierarchy of dynamics of a rigid body rolling without slipping and spinning on a plane and a sphere
%J Russian journal of nonlinear dynamics
%D 2013
%P 141-202
%V 9
%N 2
%I mathdoc
%U http://geodesic.mathdoc.fr/item/ND_2013_9_2_a0/
%G ru
%F ND_2013_9_2_a0