@article{pesce_tannuri_casetta_2006,  title={The Lagrange equations for systems with mass varying explicitly with position: some applications to offshore engineering},  volume={28},  ISSN={1678-5878},  url={https://doi.org/10.1590/S1678-58782006000400015},  DOI={10.1590/S1678-58782006000400015},  number={4},  journal={Journal of the Brazilian Society of Mechanical Sciences and Engineering},  publisher={Associação Brasileira de Engenharia e Ciências Mecânicas - ABCM},  author={Pesce, Celso P. and Tannuri, Eduardo A. and Casetta, Leonardo},  year={2006},  month={Oct},  pages={496–504} }