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Finish up proper support for Lagrangian mechanics #1807

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Run time

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Job	Run time
conda_coverage	42m 55s
conda_llvm14_asan	38m 51s
conda_llvm13_asan	39m 50s
conda_clang_tidy	47m 54s
conda_llvm15_asan	38m 54s
conda_llvm16_asan	38m 52s
conda_release	26m 5s
conda_release_static	26m 30s
osx_11	46m 45s
osx_11_static	46m 38s
windows_2022_llvm13	34m 7s
windows_2022_llvm14	34m 0s
	7h 41m 21s