Vavilov str.,40, 119991, Moscow
A.A.Dorodnitsyn Computing Center of RAS
Sumbatov A. S.
2002, vol. 7, no. 2, pp. 221-238
In this survey the basic concepts of nonholonomic systems such as equations of motion, the theory of reducing multiplier, variational principles and the Hamilton-Jacobi theorem are presented with some interesting bibliographical details.