Geodesic
Matrix equations of motion of holonomic systems
Doklady Akademii Nauk, Tome 285 (1985) no. 6, pp. 1340-1343.

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     author = {V. V. Velichenko},
     title = {Matrix equations of motion of holonomic systems},
     journal = {Doklady Akademii Nauk},
     pages = {1340--1343},
     publisher = {mathdoc},
     volume = {285},
     number = {6},
     year = {1985},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/DAN_1985_285_6_a13/}
}
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V. V. Velichenko. Matrix equations of motion of holonomic systems. Doklady Akademii Nauk, Tome 285 (1985) no. 6, pp. 1340-1343. http://geodesic.mathdoc.fr/item/DAN_1985_285_6_a13/