Nonholonomic LL systems on central extensions and the hydrodynamic Chaplygin sleigh with circulation

Article: 
Nonholonomic LL systems on central extensions and the hydrodynamic Chaplygin sleigh with circulation
Authors: 
Luis C. García-Naranjo, Joris Vankerschaver
Journal: 
ArXiv preprint
Year: 
2012
URL: 
http://arxiv.org/abs/1109.3210