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Fetecau, R. C. and Marsden, J. E. and Ortiz, M. et al. (2003) Nonsmooth Lagrangian mechanics and variational collision integrators. SIAM Journal on Applied Dynamical Systems, 2 (3). pp. 381-416. ISSN 1536-0040. http://resolver.caltech.edu/CaltechAUTHORS:FETsiamjads03

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