@article{VMUMM_1989_2_a16,
     author = {Ya. V. Tatarinov},
     title = {Universal characteristic function and the moving frame method in the dynamics of systems with nonintegrable constraints},
     journal = {Vestnik Moskovskogo universiteta. Matematika, mehanika},
     pages = {60--66},
     year = {1989},
     number = {2},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/VMUMM_1989_2_a16/}
}