Geodesic
Conservation laws, hierarchy of dynamics and explicit integration of nonholonomic systems
Russian journal of nonlinear dynamics, Tome 4 (2008) no. 3, pp. 223-280.

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This paper can be regarded as a continuation of our previous work [70, 71] on the hierarchy of the dynamical behavior of nonholonomic systems. We consider different mechanical systems with nonholonomic constraints; in particular, we examine the existence of tensor invariants (laws of conservation) and their connection with the behavior of a system. Considerable attention is given to the possibility of conformally Hamiltonian representation of the equations of motion, which is mainly used for the integration of the considered systems.
Keywords: nonholonomic systems, conservation laws, hierarchy of dynamics, explicit integration.
Mots-clés : implementation of constraints 
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A. V. Borisov; I. S. Mamaev. Conservation laws, hierarchy of dynamics and explicit integration of nonholonomic systems. Russian journal of nonlinear dynamics, Tome 4 (2008) no. 3, pp. 223-280. http://geodesic.mathdoc.fr/item/ND_2008_4_3_a0/