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A general framework for nonholonomic mechanics: Nonholonomic Systems on Lie affgebroids

Link: 
Journal: 
J. Math. Phys.
Volume: 
48
Initial page: 
83513
End page: 
Member: 
10
Authors: 
D. Iglesias, J.C. Marrero, D. Martín de Diego, D. Sosa
Year: 
2 007