(Lagrangian->Routhian Lagrangian)
(Lagrangian-state->Routhian-state L)
(Routh-equations Routhian)
(Routhian->acceleration R)
(Routhian->acceleration R dissipation-fn)
(Routhian->state-derivative R)
(Routhian->state-derivative R dissipation-fn)
(Routhian-state->Lagrangian-state R)
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