An Efficient Computational Method for Real Time Multibody Dynamic Simulation in Fully Cartesian Coordinates. Bayo, E., García de Jalón, J., Avello, A., & Cuadrado, J. Comput. Methods Appl. Mech. Eng., 92(3):377–395, November, 1991.
An Efficient Computational Method for Real Time Multibody Dynamic Simulation in Fully Cartesian Coordinates [link]Paper  doi  bibtex   
@article{bayo_efficient_1991,
	title = {An {Efficient} {Computational} {Method} for {Real} {Time} {Multibody} {Dynamic} {Simulation} in {Fully} {Cartesian} {Coordinates}},
	volume = {92},
	issn = {0045-7825},
	url = {http://dx.doi.org/10.1016/0045-7825(91)90023-Y},
	doi = {10.1016/0045-7825(91)90023-Y},
	number = {3},
	urldate = {2017-04-21TZ},
	journal = {Comput. Methods Appl. Mech. Eng.},
	author = {Bayo, Eduardo and García de Jalón, Javier and Avello, Alejo and Cuadrado, Javier},
	month = nov,
	year = {1991},
	pages = {377--395}
}

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