Geodesic
Dynamics of a~wheeled carriage
Vestnik Udmurtskogo universiteta. Matematika, mehanika, kompʹûternye nauki, no. 4 (2009), pp. 87-94

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The paper deals with the problem of motion of a wheeled carriage on a plane in case one of the wheeled couples is fixed. It also considers the case of motion of a wheeled carriage on a plane in the case of two free wheeled couples.
Keywords: nonholonomic constraint, dynamics of the system, wheeled carriage. 
@article{VUU_2009_4_a8,
     author = {S. G. Lutsenko},
     title = {Dynamics of a~wheeled carriage},
     journal = {Vestnik Udmurtskogo universiteta. Matematika, mehanika, kompʹ\^uternye nauki},
     pages = {87--94},
     publisher = {mathdoc},
     number = {4},
     year = {2009},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/VUU_2009_4_a8/}
}
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S. G. Lutsenko. Dynamics of a~wheeled carriage. Vestnik Udmurtskogo universiteta. Matematika, mehanika, kompʹûternye nauki, no. 4 (2009), pp. 87-94. http://geodesic.mathdoc.fr/item/VUU_2009_4_a8/