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![Dynamics of Rigid Bodies and Flexible Beam Structures · [A4] S. Krenk, M.B. Nielsen, Rigid body time integration by convected base vectors with implicit constraints, Proceedings](https://img.pdfslide.net/doc/110x75/5e72be1d82108c370c394a32/dynamics-of-rigid-bodies-and-flexible-beam-structures-a4-s-krenk-mb-nielsen.jpg)
