Geodesic
Dynamics of systems with nonintegrable constraints.~III
Vestnik Moskovskogo universiteta. Matematika, mehanika, no. 3 (1983), pp. 102-111

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A new mathematical model of analytical dynamics with nonintegrable constraints is considered. It is based on a generalization of the well-known principle of least action. Some applications are given. 
@article{VMUMM_1983_3_a17,
     author = {V. V. Kozlov},
     title = {Dynamics of systems with nonintegrable {constraints.~III}},
     journal = {Vestnik Moskovskogo universiteta. Matematika, mehanika},
     pages = {102--111},
     publisher = {mathdoc},
     number = {3},
     year = {1983},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/VMUMM_1983_3_a17/}
}
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V. V. Kozlov. Dynamics of systems with nonintegrable constraints.~III. Vestnik Moskovskogo universiteta. Matematika, mehanika, no. 3 (1983), pp. 102-111. http://geodesic.mathdoc.fr/item/VMUMM_1983_3_a17/