Geodesic
On rheonomic nonholonomic deformations of the Euler equations proposed by Bilimovich
Theoretical and applied mechanics, Tome 47 (2020) no. 2.

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In 1913 A. D. Bilimovich observed that rheonomic constraints which are linear and homogeneous in generalized velocities are ideal. As a typical example, he considered rheonomic nonholonomic deformation of the Euler equations whose scleronomic version is equivalent to the nonholonomic Suslov system. For the Bilimovithch system, equations of motion are reduced to quadrature, which is discussed in rheonomic and scleronomic cases.
Keywords: rheonomic Lagrangian systems, nonholonomic mechanics, integrability by quadratures 
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     author = {A. V. Borisov and A. V. Tsiganov},
     title = {On rheonomic nonholonomic deformations of the {Euler} equations proposed by {Bilimovich}},
     journal = {Theoretical and applied mechanics},
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A. V. Borisov; A. V. Tsiganov. On rheonomic nonholonomic deformations of the Euler equations proposed by Bilimovich. Theoretical and applied mechanics, Tome 47 (2020) no. 2. http://geodesic.mathdoc.fr/item/TAM_2020_47_2_a2/