Title:On a Momentum Based Version of Lagrange's EquationsAuthor(s):Hans Irschik, Michael Krommer, Yury Vetyukov, Manfred Nader, Hans-Georg von GarssenBooktitle:Multibody System Dynamics, Robotics and ControlPublisher:SpringerWienNewYorkEditor(s):H. Gattringer, J. GerstmayrPage Reference:page 231-242, 12 page(s)Publishing:2013