A new look at classical mechanics of constrained systems
Annales de l'I.H.P. Physique théorique, Tome 66 (1997) no. 1, pp. 1-36. 
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     url = {http://www.numdam.org/item/AIHPA_1997__66_1_1_0/}
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Massa, Enrico; Pagani, Enrico. A new look at classical mechanics of constrained systems. Annales de l'I.H.P. Physique théorique, Tome 66 (1997) no. 1, pp. 1-36. http://www.numdam.org/item/AIHPA_1997__66_1_1_0/

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