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Sudarsan, R and Sathiya Keerthi, S (1998) Numerical approaches for solution of differential equations on manifolds. In: Applied Mathematics and Computation, 92 (2-3). pp. 153-193.
Sudarsan, R and Sathiya Keerthi, S (1998) An efficient approach for the numerical simulation of multibody systems. In: Applied Mathematics and Computation, 92 (2-3). pp. 195-218.