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Finite element modeling of a two‐degree of freedom spherica..:

Galary, Grzegorz ; Dehez, Bruno ; Grenier, Damien.
COMPEL - The international journal for computation and mathematics in electrical and electronic engineering.  25 (2006)  2 - p. 399-411 , 2006
Link: https://doi.org/10.1108/03321640610649078