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On the Computation of the Screw Parameters of a Rigid-body Motion: Infinitesimally-separated positions

Jorge Angeles

出版	División de Estudios de Posgrado, Facultad de Ingeniería, U.N.A.M., 1981
URL	http://books.google.com.hk/books?id=EMFcAAAAMAAJ&hl=&source=gbs_api