Borisov AV, Mamaev IS, Marikhin VG, “Explicit Integration of One Problem in Nonholonomic Mechanics”, Doklady Physics, 53:10 (2008), 525–528
Borisov AV, Mamaev IS, “Conservation Laws, Hierarchy of Dynamics and Explicit Integration of Nonholonomic Systems”, Regular & Chaotic Dynamics, 13:5 (2008), 443–490