A new variational action derived from the classical limit of the Schwinger-Keldysh formalism recovers Lagrange-d'Alembert dynamics for nonholonomic systems and supports direct numerical optimization.
A Unifying Action Principle for Classical Mechan- ical Systems
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Variational approach to nonholonomic and inequality-constrained mechanics
A new variational action derived from the classical limit of the Schwinger-Keldysh formalism recovers Lagrange-d'Alembert dynamics for nonholonomic systems and supports direct numerical optimization.