@article{TAM_2019_46_1_a3,
     author = {Kurt M. Ehlers and Jair Koiller},
     title = {Cartan meets {Chaplygin}},
     journal = {Theoretical and applied mechanics},
     pages = {15 - 46},
     publisher = {mathdoc},
     volume = {46},
     number = {1},
     year = {2019},
     url = {http://geodesic.mathdoc.fr/item/TAM_2019_46_1_a3/}
}