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The online version of the original article can be found under doi:10.1007/s11044-008-9107-5.
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Terze, Z., Naudet, J. Geometric properties of projective constraint violation stabilization method for generally constrained multibody systems on manifolds. Multibody Syst Dyn 20, 107 (2008). https://doi.org/10.1007/s11044-008-9110-x
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DOI: https://doi.org/10.1007/s11044-008-9110-x