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Hi, I wanted to tell you about the book: Kinematics And Dynamics Of Multibody Systems With Imperfect Joints by Paulo Flores & Jorge A. C. Ambrosio. http://www.boeklezers.com/boeken/Kinematics+And+Dynamics+Of+Multibody+Systems+With+Imperfect+Joints/9783540743590 Kind regards,
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