Nikravesh, Parviz E. <br/><br/>
Planar multibody dynamics :  formulation, programming, and applications / 
Parviz E. Nikravesh 
 - Boca Raton :  CRC Press,  c2008 
 - 446 p. :  ill. ;  25 cm. 
<br/><br/>Includes bibliographical references (p. 439) and index 
<br/><br/><label>ISBN: </label>9781420045727 (alk. paper) 1420045725 (alk. paper) 
<br/><br/><label>Subjects--Topical Terms: </label><br/>Machinery, Kinematics of<br/>Machinery, Dynamics of