Geodesic
Equations of motion for a mechanism with varying velocity ratio
Doklady Akademii Nauk, Tome 173 (1967) no. 5, pp. 1017-1020.

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     author = {I. I. Artobolevsky and V. A. Zinov'ev and N. V. Umnov},
     title = {Equations of motion for a mechanism with varying velocity ratio},
     journal = {Doklady Akademii Nauk},
     pages = {1017--1020},
     publisher = {mathdoc},
     volume = {173},
     number = {5},
     year = {1967},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/DAN_1967_173_5_a7/}
}
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I. I. Artobolevsky; V. A. Zinov'ev; N. V. Umnov. Equations of motion for a mechanism with varying velocity ratio. Doklady Akademii Nauk, Tome 173 (1967) no. 5, pp. 1017-1020. http://geodesic.mathdoc.fr/item/DAN_1967_173_5_a7/