Geodesic
The generalization of the basic dynamic theorems in the case of the relative motion of non-holonomic systems
Theoretical and applied mechanics, Tome 16 (1990) no. 1, p. 47

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From the d'Alembert-Lagrange principle, statements are obtained, from which, by analyzing invariant singularities with respect to one-parameter families of transformations, one can generalize the basic theorems of dynamics for the relative motion of a nonholonomic mechanical system. An example is considered. 
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Novica Jovanović. The generalization of the basic dynamic theorems in the case of the relative motion of non-holonomic systems. Theoretical and applied mechanics, Tome 16 (1990) no. 1, p. 47 . http://geodesic.mathdoc.fr/item/TAM_1990_16_1_a5/