Geodesic
On a problem of the materialistic realization of a non-linear non-holonomic constraint
Theoretical and applied mechanics, Tome 12 (1986) no. 1, p. 135 .

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By analyzing the existing examples of non-linear non-holonomic constraints it is shown that these were brought about by algebraic transformations of linear non-holonomic constraints. Two examples are also given in which a non-linear non-holonomic constraint can be used in the analysis equally instead of a corresponding linear non-holonomic constraint. 
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     title = {On a problem of the materialistic realization of a non-linear non-holonomic constraint},
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Dragomir Zeković. On a problem of the materialistic realization of a non-linear non-holonomic constraint. Theoretical and applied mechanics, Tome 12 (1986) no. 1, p. 135 . http://geodesic.mathdoc.fr/item/TAM_1986_12_1_a15/