Geodesic
Dynamics of non-holonomic models of wheel carriage
Vestnik Udmurtskogo universiteta. Matematika, mehanika, kompʹûternye nauki, no. 3 (2008), pp. 99-108

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We consider two problems of non-holonomic mechanics: 1) motion of a wheel pair without sliding (two disks freely fixed on the axle) on the inclined plane in gravitational field and 2) motion of a plain wheel model such as skateboard.
Keywords: non-holonomic constraints, basic theorems of dynamics, wheel carriage, skateboard. 
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     author = {G. M. Rozenblat},
     title = {Dynamics of non-holonomic models of wheel carriage},
     journal = {Vestnik Udmurtskogo universiteta. Matematika, mehanika, kompʹ\^uternye nauki},
     pages = {99--108},
     publisher = {mathdoc},
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}
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G. M. Rozenblat. Dynamics of non-holonomic models of wheel carriage. Vestnik Udmurtskogo universiteta. Matematika, mehanika, kompʹûternye nauki, no. 3 (2008), pp. 99-108. http://geodesic.mathdoc.fr/item/VUU_2008_3_a11/