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Koon, Wang Sang and Marsden, Jerrold E. (1997) The geometric structure of nonholonomic mechanics. In: Proceedings of the 36th IEEE Conference on Decision and Control, 1997. Vol.5. Institute of Electrical and Electronics Engineers , Piscataway, NJ, pp. 4856-4861. ISBN 0-7803-3970-8. http://resolver.caltech.edu/CaltechAUTHORS:KOOieeecdc97

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