Spatial Operator Algebra for Multibody System Dynamics. Rodriguez, G., Jain, A., & Kreutz-Delgado, K.
Spatial Operator Algebra for Multibody System Dynamics [pdf]Paper  bibtex   
@article{rodriguez_spatial_nodate,
	title = {Spatial {Operator} {Algebra} for {Multibody} {System} {Dynamics}},
	url = {http://dsp.ucsd.edu/~kreutz/Publications/rodriguez1992spatial-b.pdf},
	urldate = {2014-02-16},
	author = {Rodriguez, G. and Jain, A. and Kreutz-Delgado, K.}
}
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