Closed-form time derivatives of the equations of motion of rigid body systems

@article{pub11743,
    author = {

Müller, Andreas
 and 

Kumar, Shivesh
},
    title = {Closed-form time derivatives of the equations of motion of rigid body systems},
    year = {2021},
    month = {7},
    journal = {Multibody System Dynamics},
    publisher = {Springer}
}