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3. W.D. Duncan, Theoretical Mechanics: Statics and Dynamics of a Particle, McGraw-Hill, New York, 1927, pp. 254–258.
4. E.T. Whittaker, A Treatise on the Analytical Dynamics of Particles and Rigid Bodies, 4th Edition, Cambridge University Press, London, 1937, pp. 229–230.
5. J.L. Synge, B.A. Griffith, Principles of Mechanics, 3rd Edition, McGraw-Hill, New York, 1959, pp. 141–145.