Geodesic
Notion of constraint in analytical mechanics
Russian journal of nonlinear dynamics, Tome 8 (2012) no. 4, pp. 853-860

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A critical review of such notions as holonomic and non-holonomic, unilateral and binary constraints is given. The correctness of these models is considered. 
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     author = {Viktor F. Zhuravlev},
     title = {Notion of constraint in analytical mechanics},
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     url = {http://geodesic.mathdoc.fr/item/ND_2012_8_4_a11/}
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Viktor F. Zhuravlev. Notion of constraint in analytical mechanics. Russian journal of nonlinear dynamics, Tome 8 (2012) no. 4, pp. 853-860. http://geodesic.mathdoc.fr/item/ND_2012_8_4_a11/