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In 1913 A.D. Bilimovich observed that rheonomic linear and homogeneous ingeneralized velocities constraints are ideal. As a typical example, heconsidered rheonomic nonholonomic deformation of the Euler equations whichscleronomic version is equivalent to the nonholonomic Suslov system. For theBilimovich system equations of motion are reduced to quadrature, which isdiscussed in rheonomic and scleronomic cases.

On rheonomic nonholonomic deformations of the Euler equations proposed by Bilimovich