Andreas Müller,
"A Note on the Motion Representation and Configuration Update in Time Stepping Schemes for the Constrained Rigid Body"
, in BIT Numerical Mathematics, Vol. 56, Nummer 3, Seite(n) 995-1015, 2016, ISSN: 1572-9125
Original Titel:
A Note on the Motion Representation and Configuration Update in Time Stepping Schemes for the Constrained Rigid Body