Advanced Dynamics

Baumgarte, J. W. A new method of stabilization for holonomic constraints. Journal of AppliedMechanics, 1983, Vol. 50, pp. 869 70.
Burden, R. L. and Faires, J. D. Numerical Analysis, 3rd edn. Boston: PWS Publishers, 1985.
Dahlquist, G. and Bjorck, A. Numerical Methods. Englewood Cliffs, NJ: Prentice Hall, 1974.
Hamming, R. W. Numerical Methods for Scientists and Engineers, 2nd edn. New York: Dover Publications, 1973.