Geodesic
Nonholonomic motions of gyroscopic and wheeled systems
Vestnik Moskovskogo universiteta. Matematika, mehanika, no. 5 (2013), pp. 67-73

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The aim of this paper is to describe the motions of mechanical systems with small generalized velocities. By the example of the gyroscope and railway wheel pair, we consider the situations when the motions of such systems take place near the manifold defined by the primary Dirac constraints. 
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     author = {A. V. Vlakhova},
     title = {Nonholonomic motions of gyroscopic and wheeled systems},
     journal = {Vestnik Moskovskogo universiteta. Matematika, mehanika},
     pages = {67--73},
     publisher = {mathdoc},
     number = {5},
     year = {2013},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/VMUMM_2013_5_a12/}
}
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A. V. Vlakhova. Nonholonomic motions of gyroscopic and wheeled systems. Vestnik Moskovskogo universiteta. Matematika, mehanika, no. 5 (2013), pp. 67-73. http://geodesic.mathdoc.fr/item/VMUMM_2013_5_a12/