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Coopersmith, J. (2017-05-11). Appendix A6.5 Generalized Forces. In  (Ed.), The Lazy Universe: An Introduction to the Principle of Least Action. : Oxford University Press,. Retrieved 20 Feb. 2019, from http://www.oxfordscholarship.com/view/10.1093/oso/9780198743040.001.0001/oso-9780198743040-appendix-8.