@book{140190,
	author = {Cushman, Richard H., and Duistermaat, J. J. and ebrary, Inc.},
	title = {Geometry of nonholonomically constrained systems},
	publisher = {World Scientific,},
	year = {c2010.},
	series = {Advanced series in nonlinear dynamics ;},
	address = {Singapore ;},
	url = {http://site.ebrary.com/lib/rucke/Doc?id=10421983}
}