Geodesic
Dynamics of a~wheeled carriage on a~plane
Vestnik Udmurtskogo universiteta. Matematika, mehanika, kompʹûternye nauki, no. 4 (2010), pp. 39-48

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The paper deals with the problem of motion of a wheeled carriage on a plane in the case where one of the wheeled pairs is fixed. In addition, the case of motion of a wheeled carriage on a plane in the case of two free wheeled pairs is considered.
Keywords: nonholonomic constraint, dynamics of the system, wheeled carriage. 
@article{VUU_2010_4_a4,
     author = {A. V. Borisov and S. G. Lutsenko and I. S. Mamaev},
     title = {Dynamics of a~wheeled carriage on a~plane},
     journal = {Vestnik Udmurtskogo universiteta. Matematika, mehanika, kompʹ\^uternye nauki},
     pages = {39--48},
     publisher = {mathdoc},
     number = {4},
     year = {2010},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/VUU_2010_4_a4/}
}
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A. V. Borisov; S. G. Lutsenko; I. S. Mamaev. Dynamics of a~wheeled carriage on a~plane. Vestnik Udmurtskogo universiteta. Matematika, mehanika, kompʹûternye nauki, no. 4 (2010), pp. 39-48. http://geodesic.mathdoc.fr/item/VUU_2010_4_a4/