Quasi-Chaplygin Systems and Nonholonimic Rigid Body Dynamics
  We show that the Suslov nonholonomic rigid body problem can be regarded almost everywhere as a generalized Chaplygin system. Furthermore, this provides a new example of a multidimensional nonholonomic system which can be reduced to a Hamiltonian form by means of Chaplygin reducing multiplier. Since we deal with Chaplygin systems in the local sense, the invariant manifolds of the integrable examples are not necessary tori. 
Yuri N. Fedorov, Bozidar Jovanovic