SHAKE, rattle, and roll: Efficient constraint algorithms for linked rigid bodies.

Timothy R. Forester William Smith SHAKE, rattle, and roll: Efficient constraint algorithms for linked rigid bodies. 102-111 1998 19 Journal of Computational Chemistry 1 http://dx.doi.org/10.1002/(SICI)1096-987X(19980115)19:1<102::AID-JCC9>3.0.CO;2-T db/journals/jcc/jcc19.html#ForesterS98