1. Arnold R, Maunder L (1961) Gyrodynamics and its engineering applications. Academic Press, New York
2. Bae DS, Haug EJ (1987) A recursive formulation for constrained mechanical system dynamics: part I, open loop systems. Mech Struct Mach 15:359–382
3. Brandl H, Johanni R, Otter M (1988) A very efficient algorithm for the simulation of robots and similar multibody systems without inversion of the mass matrix. In: Kopacek P, Troch I, Desoyer K (eds) Theory of robots. Pergamon, Oxford, pp 95–100
4. Bronstein IN, Semendjajew KA, Musiol G, Mühlig H (2013) Taschenbuch der Mathematik. Harri Deutsch, Frankfurt a.M.
5. Eberhard P (2000) Kontaktuntersuchungen durch hybride Mehrkörpersystem/Finite Elemente Simulationen. Shaker Verlag, Aachen