Dirac structures and geometry of nonholonomic constraints

Introduction
References
Hiroaki Yoshimura, Jerrold E. Marsden : ”Dirac structures in
Lagrangian Mechanics”, J. Geom. Phys., 57, (2006) Part I 133–156,
Part II 209-250;
W̷lodzimierz M. Tulczyjew: ”A note on holonomic constraints” in
Revisiting the Foundations of Relativistic Physics, A. Ashtekar et. al.
(eds.), 403-419, 2003 Kluver Academic Press;
Katarzyna Grabowska, Janusz Grabowski: ”Variational calculus with
constraints on general algebroids”, J. Phys. A: Math. Theor. 41,
(2008).
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