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MR1710450 (2000f:70006) 70E18 (34A45 34A60 70-08 70F40)
Anitescu, Mihai; Potra, Florian A.; Stewart, David E. Time-stepping for three-dimensional rigid body dynamics. Computational modeling of contact and friction. Comput. Methods Appl. Mech. Engrg. 177 (1999), no. 3-4, 183–197.
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