“…The general theory of linear and nonlinear, rheonomic and scleronomic, ideal and nonideal constraints and the corresponding nonholonomic systems is discussed in many recent papers and textbooks. From the existing extensive list of literature we have chosen publications, particularly close to the work of Bilimovich [2,3], see [1,6,9,11,10,14,13,16,17,18,19,20] and references therein.…”