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geometry of nonholonomically constrained systems; R. Cushman; H. Duistermaat; J. Śniatycki
[1] Bloch, A.M., Baillieul, J., Crouch, P., Marsden, J.E.: Nonholonomic Mechanics and Control. Springer (2003). MR 1978379
[2] Cortés Monforte, J.: Geometric, Control and Numerical Aspects of Nonholonomic Systems. Lecture Notes in Mathematics 1793, Springer (2002). MR 1942617
[3] Neĭmark, J.I., Fufaev, N.A.: Dynamics of Nonholonomic Systems. Transl. of Math. Monographs 33, AMS (1972).
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