Dynamics of nonholonomic systems, by Ju. I. Neimark and N. A. Fufaev. [Translated from the Russian by J. R. Barbour]. (Translations of mathematical monographs, v. 33)
Dynamics of nonholonomic systems, by Ju. I. Neimark and N. A. Fufaev. [Translated from the Russian by J. R. Barbour].