no. 1
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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     pages = {1--36},
     year = {1997},
     publisher = {Gauthier-Villars},
     volume = {66},
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     mrnumber = {1434114},
     zbl = {0878.70009},
     language = {en},
     url = {https://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. https://www.numdam.org/item/AIHPA_1997__66_1_1_0/

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