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Pfeiffer, Friedrich (2008), Pfeiffer, Friedrich (ed.), "Constraint Systems", Mechanical System Dynamics, Lecture Notes in Applied and Computational Mechanics, vol. 40, Berlin, Heidelberg: Springer, pp. 85–186, doi:10.1007/978-3-540-79436-3_3, ISBN978-3-540-79436-3, retrieved 2024-09-23