Geodesic
On the Dynamics of Nonholonomic Systems
Informatics and Automation, Differential equations and dynamical systems, Tome 236 (2002), pp. 509-518.

Voir la notice de l'article provenant de la source Math-Net.Ru

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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R. Ramirez; N. Sadovskaia. On the Dynamics of Nonholonomic Systems. Informatics and Automation, Differential equations and dynamical systems, Tome 236 (2002), pp. 509-518. http://geodesic.mathdoc.fr/item/TRSPY_2002_236_a50/

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