The reduction of nonholonomic systems is formulated in terms of Dirac reduction. An optimal reduction method for a class of nonholonomic systems is formulated. Several examples are studied in detail. © 2012 Polish Scientific Publishers.
Jotz, M., & Ratiu, T. S. (2012). Dirac Structures, Nonholonomic Systems and Reduction. Reports on Mathematical Physics, 69(1), 5–56. https://doi.org/10.1016/S0034-4877(12)60016-0