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Leyendecker, Sigrid and Marsden, Jerrold E. and Ortiz, Michael (2008) Variational integrators for constrained dynamical systems. Zeitschrift für Angewandte Mathematik und Mechanik, 88 (9). pp. 677-708. ISSN 0044-2275. doi:10.1002/zamm.200700173. https://resolver.caltech.edu/CaltechAUTHORS:LEYzamm08

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