SANH, Do. A form of equations of motion of constrained mechanical systems. <b>Vietnam Journal of Mechanics</b>, Hanoi, Vietnam, v. 24, n. 2, p. 123–132, 2002. DOI: 10.15625/0866-7136/24/2/6614. Disponível em: https://vjmech.vast.vn/vjmech/article/view/6614. Acesso em: 8 nov. 2025.