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From the reviews:
"This is a monograph intended to provide its readers with a comprehensive introduction to the simulation and animation of multibody system dynamics. Both theoretical and applied concepts are discussed. The book is written for the designers of software to represent the kinematics and dynamics of systems of rigid bodies. … The book contains a vast store of information on computer graphics and the associated procedures." (Ronald L. Huston, Zentralblatt MATH, Vol. 976, 2002)