On a decomposition of generalized constraint forces (vol 457, pg 1307, 2001)
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PROCEEDINGS OF THE ROYAL SOCIETY A-MATHEMATICAL PHYSICAL AND ENGINEERING SCIENCES
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O'Reilly, O. M., & Srinivasa, A. R.
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O’Reilly, OM||Srinivasa, AR
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http://dx.doi.org/10.1098/rspa.2001.2004