e.g. Felix Klein (1897), The mathematical theory of the top, New York: Scribner. p.4
doi.org
E. Pennestrì, P.P. Valentini, G. Figliolini, J. Angeles (2016), "Dual Cayley–Klein parameters and Möbius transform: Theory and applications", Mechanism and Machine Theory106(January):50-67. doi:10.1016/j.mechmachtheory.2016.08.008. pdf available via ResearchGate
researchgate.net
E. Pennestrì, P.P. Valentini, G. Figliolini, J. Angeles (2016), "Dual Cayley–Klein parameters and Möbius transform: Theory and applications", Mechanism and Machine Theory106(January):50-67. doi:10.1016/j.mechmachtheory.2016.08.008. pdf available via ResearchGate