1. Goldstein H (1980) Classical mechanics, 2nd edn. Addison-Wesley, Reading
2. Landau LD, Lifschitz EM (1976) Mechanics, 3rd edn. Pergamon Press, Oxford
3. Nikravesh PE (1988) Computer-aided analysis of mechanical systems. Prentice Hall, Englewood Cliffs, New Jersey
4. Schiehlen W (1990) Multibody systems handbook. Springer, Berlin
5. Shabana AA (1989) Dynamics of multibody systems. Wiley, New York