Geodesic
Geometric formalism of classical dynamics. Canonical reformulations of fundamental theorems for configurations with torsion (in particular, nonholonomic)
Vestnik Moskovskogo universiteta. Matematika, mehanika, no. 3 (1986), pp. 74-81

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     author = {Ya. V. Tatarinov},
     title = {Geometric formalism of classical dynamics. {Canonical} reformulations of fundamental theorems for configurations with torsion (in particular, nonholonomic)},
     journal = {Vestnik Moskovskogo universiteta. Matematika, mehanika},
     pages = {74--81},
     publisher = {mathdoc},
     number = {3},
     year = {1986},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/VMUMM_1986_3_a13/}
}
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Ya. V. Tatarinov. Geometric formalism of classical dynamics. Canonical reformulations of fundamental theorems for configurations with torsion (in particular, nonholonomic). Vestnik Moskovskogo universiteta. Matematika, mehanika, no. 3 (1986), pp. 74-81. http://geodesic.mathdoc.fr/item/VMUMM_1986_3_a13/