Hamiltonian formulation of nonholonomic mechanical systems via quasi coordinates

Nonholonomic systems are characterized by constraints which are nonintegrable. In this paper we revisit the problem of writing the equations of non-holonomic mechanical systems in terms of an almost-Poisson bracket on a constrained manifold as introduced by Van der Schaft and Maschke. Our modest aim is to view their formulation in terms of Quasicoordinates and arrive at a simple constructive description of the coordinate transformation which they introduce and is central to the derivation of the Hamiltonian equations of nonholonomic mechanical systems.