Geodesic
On the Dynamics of Nonholonomic Systems
Trudy Matematicheskogo Instituta imeni V.A. Steklova, Differential equations and dynamical systems, Tome 236 (2002), pp. 509-518

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We study the following problems for nonholonomic systems. Their relation to the special Lagrangian systems (Lagrangian approach), and the possibility of studying their behavior in the configuration space (Cartesian approach). 
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     author = {R. Ramirez and N. Sadovskaia},
     title = {On the {Dynamics} of {Nonholonomic} {Systems}},
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R. Ramirez; N. Sadovskaia. On the Dynamics of Nonholonomic Systems. Trudy Matematicheskogo Instituta imeni V.A. Steklova, Differential equations and dynamical systems, Tome 236 (2002), pp. 509-518. http://geodesic.mathdoc.fr/item/TM_2002_236_a50/