@article{AIHPA_1997__66_1_1_0, author = {Massa, Enrico and Pagani, Enrico}, title = {A new look at classical mechanics of constrained systems}, journal = {Annales de l'I.H.P. Physique th\'eorique}, pages = {1--36}, publisher = {Gauthier-Villars}, volume = {66}, number = {1}, year = {1997}, zbl = {0878.70009}, mrnumber = {1434114}, language = {en}, url = {http://www.numdam.org/item/AIHPA_1997__66_1_1_0/} }