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Submitted on: 15 July 2008.
Revised on: 25 August 2008.
Accepted on: 20 September 2008.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART K-JOURNAL OF MULTI-BODY DYNAMICS
Submitted on: 25 May 2005.
Revised on: 25 June 2005.
Accepted on: 13 July 2005.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART K-JOURNAL OF MULTI-BODY DYNAMICS
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