David E. Stewart. Rigid-Body Dynamics with Friction and Impact. SIAM Review, 42(1):3-39, 2000. [doi]
@article{Stewart00-1,
title = {Rigid-Body Dynamics with Friction and Impact},
author = {David E. Stewart},
year = {2000},
doi = {10.1137/S0036144599360110},
url = {http://dx.doi.org/10.1137/S0036144599360110},
researchr = {https://researchr.org/publication/Stewart00-1},
cites = {0},
citedby = {0},
journal = {SIAM Review},
volume = {42},
number = {1},
pages = {3-39},
}