Geodesic
Classical dynamics of non-holonomic systems : a geometric approach
Annales de l'I.H.P. Physique théorique, Tome 55 (1991) no. 1, pp. 511-544

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     author = {Massa, Enrico and Pagani, Enrico},
     title = {Classical dynamics of non-holonomic systems : a geometric approach},
     journal = {Annales de l'I.H.P. Physique th\'eorique},
     pages = {511--544},
     publisher = {Gauthier-Villars},
     volume = {55},
     number = {1},
     year = {1991},
     mrnumber = {1130215},
     zbl = {0731.70012},
     language = {en},
     url = {http://geodesic.mathdoc.fr/item/AIHPA_1991__55_1_511_0/}
}
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Massa, Enrico; Pagani, Enrico. Classical dynamics of non-holonomic systems : a geometric approach. Annales de l'I.H.P. Physique théorique, Tome 55 (1991) no. 1, pp. 511-544. http://geodesic.mathdoc.fr/item/AIHPA_1991__55_1_511_0/