Geodesic
Matrix equations of motion of nonholonomic systems
Doklady Akademii Nauk, Tome 321 (1991) no. 3, pp. 499-504.

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     author = {V. V. Velichenko},
     title = {Matrix equations of motion of nonholonomic systems},
     journal = {Doklady Akademii Nauk},
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     number = {3},
     year = {1991},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/DAN_1991_321_3_a13/}
}
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V. V. Velichenko. Matrix equations of motion of nonholonomic systems. Doklady Akademii Nauk, Tome 321 (1991) no. 3, pp. 499-504. http://geodesic.mathdoc.fr/item/DAN_1991_321_3_a13/