On rheonomic nonholonomic deformations of the Euler equations proposed by Bilimovich

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