1. Arnold, V.I.: Mathematical Methods of Classical Mechanics, 2nd edn. Springer, Berlin (1988)
2. Bloch, A.M., Krishnaprasad, P.S., Marsden, J.E., Murray, R.M.: Nonholonomic mechanical systems with symmetry. Arch. Ration. Mech. Anal. 136, 21–99 (1996)
3. Cushman, R., Duistermaat, J.J., Śniatycki, J.: Geometry of Nonholonomically Constrained Systems. Advanced Series in Nonlinear Dynamics, 26. World Scientific Publishing, Singapore (2010)
4. Chaplygin, S.A.: On the theory of the motion of nonholonomic systems. The reducing-multiplier theorem. Regul. Chaotic Dyn. 13, 369–376 (2008). [Translated from Matematicheskiǐ Sbornik (Russian) 28 (1911), by A. V. Getling]
5. Duistermaat, J.J.: Lie Groups. Springer, Berlin (2000)