1. G. Mozzi, Discorso matematico sopra il rotamento momentaneo dei corpi, Stamperia di Donato Campo, Napoli, 1763
2. Screw axis defined by Giulio Mozzi in 1763;Ceccarelli,1995
3. M. Chasles, Note sur les Proprietes Generales du Systeme de Deux Corps Semblables entr’eux, Bullettin de Sciences Mathematiques, Astronomiques Physiques et Chimiques, Baron de Ferussac, Paris, 1830, pp. 321–326
4. R.S. Ball, A Treatise on the Theory of Screws, Hodges, Dublin, 1876, Appendix 1, University Press, Cambridge, 1900, p. 510
5. Spatial Kinematic Chains;Angeles,1982