Geodesic
On the nonholonomic Veselova and Chaplygin systems
Russian journal of nonlinear dynamics, Tome 8 (2012) no. 3, pp. 541-547

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We prove the trajectory equivalence of the Chaplygin sphere problem, the Veselova system on $e^*(3)$ and a Hamiltonian system on two-dimensional sphere with the non-standard metric.
Keywords: nonholonomic systems
Mots-clés : Poisson brackets. 
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     author = {Andrey V. Tsiganov},
     title = {On the nonholonomic {Veselova} and {Chaplygin} systems},
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Andrey V. Tsiganov. On the nonholonomic Veselova and Chaplygin systems. Russian journal of nonlinear dynamics, Tome 8 (2012) no. 3, pp. 541-547. http://geodesic.mathdoc.fr/item/ND_2012_8_3_a8/