In this paper we obtain a Hamilton-Jacobi theory for nonholonomic mechanical systems. The results are applied to a large class of nonholonomic mechanical systems, the so-called \v{C}aplygin systems.
@article{arxiv.0705.3739,
title = {Towards a Hamilton-Jacobi Theory for Nonholonomic Mechanical Systems},
author = {D. Iglesias and M. de Leon and D. Martin de Diego},
journal= {arXiv preprint arXiv:0705.3739},
year = {2007}
}