Corless, Martin. "Kinematics"(PDF). Aeromechanics I Course Notes. Purdue University. p. 213. Archived from the original(PDF) on 24 October 2012. Retrieved 18 July 2011.
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Corless, Martin. "Kinematics"(PDF). Aeromechanics I Course Notes. Purdue University. p. 213. Archived from the original(PDF) on 24 October 2012. Retrieved 18 July 2011.
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Stephen T. Thornton & Jerry B. Marion (2004). "Chapter 10". Classical Dynamics of Particles and Systems (5th ed.). Belmont CA: Brook/Cole. ISBN0-534-40896-6. OCLC52806908.