@article{TM_2002_236_a50,
     author = {R. Ramirez and N. Sadovskaia},
     title = {On the {Dynamics} of {Nonholonomic} {Systems}},
     journal = {Trudy Matematicheskogo Instituta imeni V.A. Steklova},
     pages = {509--518},
     publisher = {mathdoc},
     volume = {236},
     year = {2002},
     language = {en},
     url = {http://geodesic.mathdoc.fr/item/TM_2002_236_a50/}
}