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Koon, Wang Sang and Marsden, Jerrold E. (1997) The Hamiltonian and Lagrangian Approaches to the Dynamics of Nonholonomic Systems. Reports on Mathematical Physics, 40 (1). pp. 21-62. ISSN 0034-4877. http://resolver.caltech.edu/CaltechAUTHORS:20100820-092142844

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