Geodesic
Dynamics of systems with non-integrable restrictions.~I
Vestnik Moskovskogo universiteta. Matematika, mehanika, no. 3 (1982), pp. 92-100

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We propose a new mathematical model of the dynamics of mechanical systems with non-integrable restrictions. It is based on a generalization of the famous principle of the least action. 
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     author = {V. V. Kozlov},
     title = {Dynamics of systems with non-integrable {restrictions.~I}},
     journal = {Vestnik Moskovskogo universiteta. Matematika, mehanika},
     pages = {92--100},
     publisher = {mathdoc},
     number = {3},
     year = {1982},
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     url = {http://geodesic.mathdoc.fr/item/VMUMM_1982_3_a21/}
}
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V. V. Kozlov. Dynamics of systems with non-integrable restrictions.~I. Vestnik Moskovskogo universiteta. Matematika, mehanika, no. 3 (1982), pp. 92-100. http://geodesic.mathdoc.fr/item/VMUMM_1982_3_a21/