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On constrained motion
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DOI：10.1016/j.amc.2004.06.039.png)
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Abstract
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The general explicit equations of motion for constrained discrete dynamical systems are obtained. These new equations lead to a simple and new fundamental view of constrained motion where the forces of constraint may be ideal and/or non-ideal. (c) 2004 Elsevier Inc. All rights reserved.
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