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By using the Shake-Rattle algorithm, the tangent bundle is preserved to the machine accuracy, and therefore numerical errors are restricted to location on the manifold. The second main result is that Lyapunov exponents associated with global orbits can be calculated using a variant of the Shake-Rattle algorithm for linearized constrained systems.   Only the undamped system is considered, but it is straightforward to include damping in the numerical framework. The orbits of the forced system show clear evidence of chaotic behavior. 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