1. Paul B. Kinematics and Dynamics of Planar Machinery, 1979, pp. 285–289 (Prentice-Hall, Englewood Cliffs, New Jersey).
2. Martin G. H. Kinematics and Dynamics of Machines, 2nd edition, 1982, p. 212 (McGraw-Hill, New York).
3. Rothbart H. A. Cams: Design, Dynamics, and Accuracy, 1956, pp. 78–89 (John Wiley, New York).