1. Integrability and the variational formulation of non-conservative mechanical systems
2. C.Lanczos The Variational Principles of Mechanics 4th edition republication of a 1970 edition that was published by the University of Toronto Press as vol. 4 of their series Mathematical Expositions; the first edition was published in 1949 (Dover New York 1986).
3. J.I.NeimarkandN.A.Fufaev Dynamics of non‐holonomic systems Vol. 23 Translations of Mathematical Monographs series (this is a translation by Julian Barbour of the Russian version Moscow 1967) (American Mathematical Society Providence R.I. 1972).
4. D.H.SattingerandO.L.Weaver Lie Groups and Algebras with Applications to Physics Geometry and Mechanics (Springer Berlin 1986).
5. F.Warner Differentiable Manifolds and Lie Groups (Scott Foresman Glenview IL 1971).