A Non holonomic constraints in classical mechanics textbook

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To learn about non-holonomic constraints in Lagrangian and Hamiltonian mechanics, consider exploring Greenwood's "Classical Dynamics" and "Advanced Dynamics." Additionally, the work by Neimark and Fufaev titled "Dynamics of Nonholonomic Systems" is recommended for a deeper understanding. Many users express concerns regarding the accuracy of Goldstein's 3rd edition on this topic. The suggested resources align well with the mathematical level presented in Goldstein. Engaging with these texts will enhance comprehension of non-holonomic systems in classical mechanics.
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I want to learn about the non holonomic case in lagrangian and Hamiltonian mechanics. I've seen that many people say that Goldstein 3rd ed is wrong there.
Where should I go to learn it.
My mathematics level is at the level Goldstein uses.
Please help
 
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You can try greenwood's books:
- classical dynamics
- advanced dynamics.
 
u I. Neimark annd N. A. Fufaef, “Dynamics of Nonholonomic Systems,” Vol. 33, Translations of Mathematical Monographs, American Mathematical Society, Providence, 1972.
 
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