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MR2578673 70E55 (74M15 90C33)
Flores, Paulo; Leine, Remco; Glocker, Christoph Modeling and analysis of planar rigid multibody systems with translational clearance joints based on the non-smooth dynamics approach. Multibody Syst. Dyn. 23 (2010), no. 2, 165–190.
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