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MR1423003
(97i:58048)
58F05
(70F25 70H33 70H35 70Q05 93B29 93C85)
Bloch, Anthony M.; Krishnaprasad, P. S.; Marsden, Jerrold E.; Murray, Richard M. Nonholonomic mechanical systems with symmetry. Arch. Rational Mech. Anal. 136 (1996), no. 1, 21--99. |
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