Geodesic
Gauss's principle in a parametric formulation of mechanics
Theoretical and applied mechanics, Tome 22 (1996) no. 1, p. 61 .

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In this paper it is demonstrated that the Gauss’s principle also can be formulated in a parametric formulation of the mechanics of rheonomic systems, which is based on a family of varied paths, and on the transition to a new parameter, retaining the time as the independent variable. In this manner, one obtains the Gauss’s principle, both in a differential form and in the form of a principle of least constraint, including as well their presentation in generalized coordinates. From so formulated principle follows an extended system of corresponding Lagrange’s and Gibbs-Appell’s equations, and in all so obtained relations appears one additional term or equation, arising from the nonstationarity of constraints, which is characteristic for this parametric formulation of mechanics. 
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     title = {Gauss's principle in a parametric formulation of mechanics},
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Djordje Mušicki. Gauss's principle in a parametric formulation of mechanics. Theoretical and applied mechanics, Tome 22 (1996) no. 1, p. 61 . http://geodesic.mathdoc.fr/item/TAM_1996_22_1_a4/