@article{AIHPA_1991__55_1_511_0,
     author = {Massa, Enrico and Pagani, Enrico},
     title = {Classical dynamics of non-holonomic systems : a geometric approach},
     journal = {Annales de l'I.H.P. Physique th\'eorique},
     pages = {511--544},
     publisher = {Gauthier-Villars},
     volume = {55},
     number = {1},
     year = {1991},
     mrnumber = {1130215},
     zbl = {0731.70012},
     language = {en},
     url = {http://www.numdam.org/item/AIHPA_1991__55_1_511_0/}
}