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scientific article
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A new approach to the vakonomic mechanics
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    A new approach to the vakonomic mechanics (English)
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    19 October 2015
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    variational principle
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    generalized Hamiltonian principle
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    d'Alembert-Lagrange principle
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    constrained Lagrangian system
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    transpositional relations
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    vakonomic mechanic
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    equation of motion
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    vorones system
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    Chapligyn system
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    Newtonian model
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