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The nonholonomic constraints induce a distinguished distribution in the tangent bundle of the associated state space; allowable motions of the system correspond to paths which remain everywhere tangent to this distribution. According to the Chow-Rashevsky theorem, if the distribution is bracket generating, then any two states are mutually accessible by an allowed motion of the system. Imposing a cost functional allows the possibility to determine ``optimal'' paths; these correspond physically to energy minimizing motions of the system, or geometrically to geodesic paths in the associated sub-Riemannian geometry. Among the classical problems considered in the paper are the knife edge (single skate), nonholonomic skater, Bernoulli-Euler elastica, the rolling disc, and the nonholonomic bicycle.  Reviewer's remark: The authors' claim that the nonholonomic skater example provides a counterexample to the converse to the Chow-Rashevsky theorem is incorrect. In fact, it is known that the Chow-Rashevsky theorem is reversible for analytic vector fields but not in general for \\(C^\\infty\\) vector fields, see Section 9 of [\\textit{H. J. Sussmann}, Trans. Am. Math. Soc. 180, 171--188 (1973; Zbl 0274.58002)] and the discussion and example on pages 16 and 18 of [\\textit{A. Bella\u00efche}, Prog. Math. 144, 1--78 (1996; Zbl 0862.53031)]. The error in the authors' argument is on page 303, in the computation of iterated brackets of vector fields: the coefficients of the vector field \\(V\\) depend on the angle \\(\\theta\\) and hence \\([\\partial_\\theta, fV] \\neq (\\partial_\\theta f) 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