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Dynamics of systems with nonintegrable constraints. I
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    Dynamics of systems with nonintegrable constraints. I (English)
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    1982
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    Translation from Vestn. Mosk. Univ., Ser. I 1982, No.3, 92-100 (Russian) (1982; Zbl 0501.70016).
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    linear constraints
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    generalization of Hamilton's principle
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