Geometry Of Nonholonomically Constrained Systems - Cushman, Richard H (Univ Of Calgary, Canada) a Duistermaat, Hans (Univ Utrecht, The Netherlands) a Sniatycki, Jedrzej (Univ Of Calgary, Canada)

Offers a modern differential geometric treatment of linearly nonholonomically constrained systems. This title discusses what is meant by symmetry of such a system and gives a general theory of how to reduce such a symmetry using the concept of a differential space and the Poisson bracket structure of its algebra of smooth functions.