1. Dynamic Systems Group, Department of Mechanical and Aeronautical Engineering, University of Pretoria, South Africa, PO Box 11334, Erasmuskloof 0048, South Africa
2. Dynamic Systems Group, Department of Mechanical and Aeronautical Engineering, University of Pretoria, Pretoria, 0002, South Africa
3. Manufacturing and Materials Technology, Councilfor Scientif ic and Industrial Research (CSIR), Pretoria, South Africa, PO Box 395, Pretotia, 0001, South Africa