Geodesic
Equations of motion of non-holonomic systems
Trudy Matematicheskogo Instituta imeni V.A. Steklova, Tome 70 (2015) no. 6, pp. 1167-1169 
A. V. Borisov; I. S. Mamaev. Equations of motion of non-holonomic systems. Trudy Matematicheskogo Instituta imeni V.A. Steklova, Tome 70 (2015) no. 6, pp. 1167-1169. http://geodesic.mathdoc.fr/item/RM_2015_70_6_a4/
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