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MR1397500 73-02 (70K40 73T05)
Pfeiffer, Friedrich; Glocker, Christoph Multibody dynamics with unilateral contacts. Wiley Series in Nonlinear Science. A Wiley-Interscience Publication. John Wiley & Sons, Inc., New York, 1996. xiv+317 pp. ISBN: 0-471-15565-9
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