@article{ND_2013_9_3_a9,
     author = {Ivan A. Bizyaev and Alexey V. Borisov and Ivan S. Mamaev},
     title = {The dynamics of nonholonomic systems consisting of a spherical shell with a moving rigid body inside},
     journal = {Russian journal of nonlinear dynamics},
     pages = {547--566},
     publisher = {mathdoc},
     volume = {9},
     number = {3},
     year = {2013},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/ND_2013_9_3_a9/}
}