Geodesic
Historical and critical review of the development of nonholonomic mechanics: the classical period
Russian journal of nonlinear dynamics, Tome 12 (2016) no. 3, pp. 385-411

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In this historical review we describe in detail the main stages of the development of nonholonomic mechanics starting from the work of Earnshaw and Ferrers to the monograph of Yu.I. Neimark and N.A. Fufaev. In the appendix to this review we discuss the d’Alembert–Lagrange principle in nonholonomic mechanics and permutation relations.
Keywords: nonholonomic mechanics, nonholonomic constraint, d’Alembert–Lagrange principle
Mots-clés : permutation relations. 
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A. V. Borisov; I. S. Mamaev; I. A. Bizyaev. Historical and critical review of the development of nonholonomic mechanics: the classical period. Russian journal of nonlinear dynamics, Tome 12 (2016) no. 3, pp. 385-411. http://geodesic.mathdoc.fr/item/ND_2016_12_3_a6/