One invariant measure and different Poisson brackets for two nonholonomic systems

We discuss the nonholonomic Chaplygin and the Borisov-Mamaev-Fedorov systems, for which symplectic forms are different deformations of the square root from the corresponding invariant volume form. In both cases second Poisson bivectors are determined by $L$-tensors with non-zero torsion on the configurational space, in contrast with the well known Eisenhart-Benenti and Turiel constructions.

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