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2. Chaplygin, S.A., On a Ball’s Rolling on a Horizontal Plane, Mat. Sbornik, 1903, vol. 24, pp. 139–168 (in Russian) [English translation: Regul. Chaotic Dyn., 2002, vol. 7, no. 2, pp. 131–148; http://ics.org.ru/eng?menu=mi_pubs⇃stract=312 ].
3. Chaplygin, S.A., On the Theory of Motion of Nonholonomic Systems. The Reducing-Multiplier Theorem, Mat. Sbornik, 1911. vol. 28, no. 2, pp. 303–314 (in Russian)[English translation: Regul. Chaotic Dyn., 2008, vol. 13, no. 4, pp. 369–376; http://ics.org.ru/eng?menu=mi_pubs⇃stract=1303 ].
4. Appell, P., Sur des transformations de movements, J. reine und angew. Math., 1892, vol. 110, pp. 37–41.
5. Fedorov, Y.N. and Jovanović, B., Quasi-Chaplygin Systems and Nonholonomic Rigid Body Dynamics, Lett. Math. Phys., 2006, vol. 76, no. 2–3. pp. 215–230.