Classical dynamics of non-holonomic systems : a geometric approach
Annales de l'I.H.P. Physique théorique, Tome 55 (1991) no. 1, pp. 511-544. 
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Massa, Enrico; Pagani, Enrico. Classical dynamics of non-holonomic systems : a geometric approach. Annales de l'I.H.P. Physique théorique, Tome 55 (1991) no. 1, pp. 511-544. http://archive.numdam.org/item/AIHPA_1991__55_1_511_0/

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