Non holonomic constraints in classical mechanics textbook

[Kashmir]

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

 

[andresB]

You can try greenwood's books:
- classical dynamics
- advanced dynamics.

 

[wrobel]

u I. Neimark annd N. A. Fufaef, “Dynamics of Nonholonomic Systems,” Vol. 33, Translations of Mathematical Monographs, American Mathematical Society, Providence, 1972.