Geometry of nonholonomically constrained systems / Richard Cushman, Hans Duistermaat, Jędrzej Śniatycki.
This book gives a modern differential geometric treatment of linearly nonholonomically constrained systems. It discusses in detail what is meant by symmetry of such a system and gives a general theory of how to reduce such a symmetry using the concept of a differential space and the almost Poisson b...
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