Geodesic
Cartesian approach for nonholonomic systems
Zapiski Nauchnykh Seminarov POMI, Representation theory, dynamical systems. Part VIII, Tome 300 (2003), pp. 228-237

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The aim of this communication is to develop a Cartesian approach to describe nonholonomic systems with constraints which are linear with respect to velocity. The obtained results are applied to study the classical nonholonomic system: the constrained particle in $\mathbb{R}^3$, the Chapliguin–Carathéodory sleigh and the symmetrical top in the Suslov problem. 
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     author = {R. Ramirez and N. Sadovskaia},
     title = {Cartesian approach for nonholonomic systems},
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     pages = {228--237},
     publisher = {mathdoc},
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     year = {2003},
     language = {en},
     url = {http://geodesic.mathdoc.fr/item/ZNSL_2003_300_a22/}
}
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R. Ramirez; N. Sadovskaia. Cartesian approach for nonholonomic systems. Zapiski Nauchnykh Seminarov POMI, Representation theory, dynamical systems. Part VIII, Tome 300 (2003), pp. 228-237. http://geodesic.mathdoc.fr/item/ZNSL_2003_300_a22/