1. Planar Multibody Dynamics: Formulation, Programming, and Applications, 2nd Ed;Nikravesh,2019
2. Computer Aided Kinematics and Dynamics of Mechanical Systems;Haug,1989
3. Matrix Methods in the Design Analysis of Mechanisms and Multibody Systems;Uicker,2013
4. Concepts and Formulations for Spatial Multibody Dynamics;Flores,2015