Export: Formulation and performance of variational integrators for rotating bodies
Romero Olleros, Ignacio (2008). Formulation and performance of variational integrators for rotating bodies. "Computational Mechanics", v. 42 (n. 6); pp. 825-836. ISSN 0178-7675. https://doi.org/10.1007/s00466-008-0286-y.
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