Geodesic
Motion of mechanical systems with unilateral constraints
Vestnik Moskovskogo universiteta. Matematika, mehanika, no. 3 (2005), pp. 18-24

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     author = {S. N. Berezinskaya and E. I. Kugushev and O. V. Sorokina},
     title = {Motion of mechanical systems with unilateral constraints},
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S. N. Berezinskaya; E. I. Kugushev; O. V. Sorokina. Motion of mechanical systems with unilateral constraints. Vestnik Moskovskogo universiteta. Matematika, mehanika, no. 3 (2005), pp. 18-24. http://geodesic.mathdoc.fr/item/VMUMM_2005_3_a4/