SO(2) and Hamilton-Dirac mechanics
Burdik, Cestmir
;
Paal, Eugen
;
Virkepu, Jüri
Journal of nonlinear mathematical physics
2006
/
Supplement, August, p. 37-43
https://www.tandfonline.com/doi/abs/10.2991/jnmp.2006.13.s.5