Geodesic
Equations of motion of nonlinear nonholonomic systems with variable masses
Portugaliae mathematica, Tome 45 (1988) no. 1, pp. 49-58.

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Keywords: Poincaré formalism, motion of dynamical systems with variable masses, nonholonomic constraints, Gauss's principle 
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     author = {Ghori, Q.K.},
     title = {Equations of motion of nonlinear nonholonomic systems with variable masses},
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     pages = {49--58},
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     zbl = {0647.70016},
     language = {en},
     url = {http://geodesic.mathdoc.fr/item/PORMA_1988__45_1_115607/}
}
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Ghori, Q.K. Equations of motion of nonlinear nonholonomic systems with variable masses. Portugaliae mathematica, Tome 45 (1988) no. 1, pp. 49-58. http://geodesic.mathdoc.fr/item/PORMA_1988__45_1_115607/