Heard, William Bailey, <br/><br/>
Rigid body mechanics :  mathematics, physics and applications / 
William B. Heard. 
 - Weinheim :  Wiley-VCH,  c2006. 
 - xiii, 249 p. :  ill. ;  24 cm. 
<br/><br/><label>ISBN: </label>9783527406203 (pbk.) 3527406204 (pbk.) 
<br/><br/><label>Subjects--Index Terms: </label>Rotations, Numerical Methods, Integrable Systems, Constrianed Systems, Dynamics 
<br/><br/><label>Dewey Class. No.: </label>531.11