A method of integrating the equations of motion of nonholonomic systems with higher-order constraints (Q1314042)

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A method of integrating the equations of motion of nonholonomic systems with higher-order constraints
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    A method of integrating the equations of motion of nonholonomic systems with higher-order constraints (English)
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    2 March 1994
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    field method
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    Hamilton-Jacobi method
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