@article{AIHPA_1997__66_1_1_0,
     author = {Massa, Enrico and Pagani, Enrico},
     title = {A new look at classical mechanics of constrained systems},
     journal = {Annales de l'I.H.P. Physique th\'eorique},
     pages = {1--36},
     publisher = {Gauthier-Villars},
     volume = {66},
     number = {1},
     year = {1997},
     mrnumber = {1434114},
     zbl = {0878.70009},
     language = {en},
     url = {http://archive.numdam.org/item/AIHPA_1997__66_1_1_0/}
}