PHONG, D. V. An algorithm for deriving equations of motion of constrained mechanical system. Vietnam Journal of Mechanics, Hanoi, Vietnam, v. 21, n. 1, p. 36–44, 1999. DOI: 10.15625/0866-7136/9985. Disponível em: https://vjs.ac.vn/index.php/vjmech/article/view/9985. Acesso em: 1 dec. 2022.