Energy and Quadratic Invariants Preserving Methods for Hamiltonian Systems with Holonomic Constraints. Journal of Computational Mathematics, [S. l.], v. 41, n. 1, p. 107–132, 2022. DOI: 10.4208/jcm.2106-m2020-0205. Disponível em: https://www.global-sci.com/index.php/JCM/article/view/12519. Acesso em: 6 dec. 2025.