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MR2074020 (2005e:70007) 70E55 (70-08 70F35 70F40)
Anitescu, Mihai; Hart, Gary D. A constraint-stabilized time-stepping approach for rigid multibody dynamics with joints, contact and friction. Internat. J. Numer. Methods Engrg. 60 (2004), no. 14, 2335–2371.
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