Geodesic
D’Alembert’s principle and classical relativity in the Lagrangian mechanics
Vestnik Moskovskogo universiteta. Matematika, mehanika, no. 5 (2024), pp. 53-61

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In this paper, we present an invariant formulation of the d'Alambert principle and classical time-dependent Lagrangian mechanics with holonomic constraints from the perspective of moving frames. 
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     author = {B. Jovanovi\'c},
     title = {D{\textquoteright}Alembert{\textquoteright}s principle and classical relativity in the {Lagrangian} mechanics},
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B. Jovanović. D’Alembert’s principle and classical relativity in the Lagrangian mechanics. Vestnik Moskovskogo universiteta. Matematika, mehanika, no. 5 (2024), pp. 53-61. http://geodesic.mathdoc.fr/item/VMUMM_2024_5_a5/