@other{https://authors.library.caltech.edu/records/nbpgf-5zy69,
    author = "Marsden, Jerrold E. and Koon, Wang-Sang",
    title = "The Hamiltonian and Lagrangian approaches to the dynamics of nonholonomic systems",
    year = "1996",
    url = "https://resolver.caltech.edu/CaltechCDSTR:1996.020",
    id = "https://authors.library.caltech.edu/records/nbpgf-5zy69"
}