A unified approach to constrained mechanical systems as implicit differential equations
Annales de l'I.H.P. Physique théorique, Tome 70 (1999) no. 6, pp. 515-546. 
@article{AIHPA_1999__70_6_515_0,
     author = {Barone, F. and Grassini, R. and Mendella, G.},
     title = {A unified approach to constrained mechanical systems as implicit differential equations},
     journal = {Annales de l'I.H.P. Physique th\'eorique},
     pages = {515--546},
     publisher = {Gauthier-Villars},
     volume = {70},
     number = {6},
     year = {1999},
     mrnumber = {1693588},
     zbl = {0965.70030},
     language = {en},
     url = {http://archive.numdam.org/item/AIHPA_1999__70_6_515_0/}
}
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Barone, F.; Grassini, R.; Mendella, G. A unified approach to constrained mechanical systems as implicit differential equations. Annales de l'I.H.P. Physique théorique, Tome 70 (1999) no. 6, pp. 515-546. http://archive.numdam.org/item/AIHPA_1999__70_6_515_0/

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