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Apr\u00e8s avoir discut\u00e9 le formalisme g\u00e9n\u00e9ral de la m\u00e9canique des solides et notamment les conditions d'application du ``Principe de d'Alembert'' -- les paradoxes relev\u00e9s par diff\u00e9rents auteurs tiennent soit \u00e0 l'application d'une formulation inad\u00e9quate soit aux limites de la th\u00e9orie de la m\u00e9canique des solides -- on introduit un concept assez g\u00e9n\u00e9ral de liaisons hamiltoniennes qui inclue nombre des situations vis\u00e9es. Une proc\u00e9dure de r\u00e9duction symplectique permet d'\u00e9liminer les inconnues m\u00e9caniques du probl\u00e8me et fournit sur la vari\u00e9t\u00e9 de Poisson r\u00e9duite les \u00e9quations du mouvement du syst\u00e8me sous la r\u00e9serve qu'une ``condition de couplage'' est v\u00e9rifi\u00e9e. Cette condition indique grosso modo sur quelles variables de position l'on peut agir pour contr\u00f4ler le mouvement. Dans diff\u00e9rents contextes et notamment celui de la m\u00e9canique ``usuelle'' des solides ou de la m\u00e9canique terrestre une d\u00e9composition du ``champ dynamique'' d\u00e9crivant le mouvement est donn\u00e9e qui fait ressortir les origines des contributions apport\u00e9es \u00e0 ce champ, ce qui permet de pr\u00e9voir l'annulation de certaines composantes en fonction de la nature des m\u00e9canismes ou devrait permettre, lors d'\u00e9ventuelles estimations num\u00e9riques, de pr\u00e9voir les ordres de grandeur des diff\u00e9rentes contributions. 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