1. Zienkiewicz, O.C., Taylor, R.L.: The Finite Element Method, Vol. 1: The Basis, fifth ed., Butterworth-Heinemann, Oxford (2000).
2. Gawroński, W., Kruszewski, J., Ostachowicz, W., Tarnowski, J., Wittbrodt, E.: Metoda elementów skończonych w dynamice konstrukcji, Arkady, (in Polish), Warszawa (1984).
3. Lipiński, K.: Multibody Systems with Unilateral Constraints in Application to Modelling of Complex Mechanical Systems, Wydawnictwo Politechniki Gdańskiej, Seria Monografie 123, Gdańsk (2012) (in Polish).
4. Samin, J-C., Fisette, P.: Symbolic Modeling of Multibody Systems. Kluwer Academic Publishers, Dordrecht, 2003.
5. Soylu, R., Cetin, M.: Linearization of Hybrid Robots and Input Torque Balancing of Mechanisms, Mech. Mach. Theory 33(5), pp. 611–624 (1998).