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Bloch, A.M., Krishnaprasad, P.S., Mardsen, J.E. and Murray, R. (1996) Nonholonomic Mechanical Systems with Symmetry. Archive for Rational Mechanics and Analysis, 136, 21-99.
http://dx.doi.org/10.1007/BF02199365

has been cited by the following article:

• TITLE: Motion of Nonholonomous Rheonomous Systems in the Lagrangian Formalism

  AUTHORS: F. Talamucci

  KEYWORDS: Nonholonomous Systems, Rheonomic Constraints, Quasi-Velocites, Appell and Boltzmann-Hamel Equations

  JOURNAL NAME: Journal of Applied Mathematics and Physics, Vol.3 No.3, March 23, 2015

  ABSTRACT: The main purpose of the paper consists in illustrating a procedure for expressing the equations of motion for a general time-dependent constrained system. Constraints are both of geometrical and differential type. The use of quasi-velocities as variables of the mathematical problem opens the possibility of incorporating some remarkable and classic cases of equations of motion. Afterwards, the scheme of equations is implemented for a pair of substantial examples, which are presented in a double version, acting either as a scleronomic system and as a rheonomic system.