%0 Journal Article
%A Ya. V. Tatarinov
%T Universal characteristic function and the moving frame method in the dynamics of systems with nonintegrable constraints
%J Vestnik Moskovskogo universiteta. Matematika, mehanika
%D 1989
%P 60-66
%N 2
%U http://geodesic.mathdoc.fr/item/VMUMM_1989_2_a16/
%G ru
%F VMUMM_1989_2_a16