Here's one of my all-time favorites, @Danu, and it's physical :) The state space of a car may be taken (locally) to be $\R2
\times S^1\times S^1$, with coordinates $(x,y,\t,\vp)$: let $(x,y)$ be
the coordinates of the midpoint of the front axle, let $\t$ be the angle the
car makes with the positive $x$-axis, and let $\vp$ be the angle the
front wheels are turned.
%\vskip1in\hskip1.6in\special{illustration car.eps scaled 500}
\noindent
Consider the vector fields
\begin{align}
S &= \text{Steer } = \d{}{\vp} \qquad\text{and} \\