On the simulation of multibody systems with holonomic constraints
  We use Lagrangian formalism and jet spaces to derive a computational model to simulate multibody dynamics with holonomic constraints. Our approach avoids the traditional problems of drift-off and spurious oscillations. Hence even long simulations remain physically relevant. We illustrate our method with several numerical examples. 
Jukka Tuomela, Teijo Arponen, Villesamuli Normi