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"Dirac reduction for nonholonomic mechanical systems and semidirect products."
François Gay-Balmaz, Hiroaki Yoshimura (2015)
- François Gay-Balmaz, Hiroaki Yoshimura

:
Dirac reduction for nonholonomic mechanical systems and semidirect products. Adv. Appl. Math. 63: 131-213 (2015)

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