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MR1831174 (2002k:74027) 74H45 (49J10 74H20 74H55)
Gonzalez, O.; Maddocks, J. H.; Pego, R. L. Multi-multiplier ambient-space formulations of constrained dynamical systems, with an application to elastodynamics. Arch. Ration. Mech. Anal. 157 (2001), no. 4, 285--323.
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