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Bloch, Anthony M. and Marsden, Jerrold E. and Zenkov, Dmitry V. (2005) Nonholonomic Dynamics. Notices of the American Mathematical Society, 52 (3). pp. 320-329. ISSN 0002-9920. http://resolver.caltech.edu/CaltechAUTHORS:20100715-083902791

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