@article{SIGMA_2007_3_a35,
     author = {Sergio Benenti},
     title = {A~{\textquotedblleft}User-Friendly{\textquotedblright} {Approach} to the {Dynamical} {Equations} of {Non-Holonomic} {Systems}},
     journal = {Symmetry, integrability and geometry: methods and applications},
     year = {2007},
     volume = {3},
     language = {en},
     url = {http://geodesic.mathdoc.fr/item/SIGMA_2007_3_a35/}
}