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MR2224579 (2007m:70016) 70E55 (70-08 70F40)
Potra, Florian A.; Anitescu, Mihai; Gavrea, Bogdan; Trinkle, Jeff A linearly implicit trapezoidal method for integrating stiff multibody dynamics with contact, joints, and friction. Internat. J. Numer. Methods Engrg. 66 (2006), no. 7, 1079–1124.
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