1. Computer-aided analysis of mechanical systems. Prentice-Hall, 1988.
2. Computer-Aided Kinematics and Dynamics of Mechanical Systems. Volume I: Basic Methods. Allyn & Bacon, 1989.
3. Hamiltonian formalism for Euler parameters. Celestial Mechanics, 37: 47–57, 1985.
4. Hamiltonian and Lagrangian formulations of rigid-body rotational dynamics based on the Euler parameters. The Journal of the Astronautical Sciences, 41: 569–591, 1993.
5. and . Constrained integration of rigid body dynamics. Comput. Methods Appl. Mech. Engrg., 191: 467–488, 2001.