@article{GDZPPN001186612, title = {The Drazin inverse in multibody system dynamics.}, journal = {Numerische Mathematik}, volume = {66}, year = {1993}, pages = {521-539}, zbl = {0797.65054}, url = {http://dml.mathdoc.fr/item/GDZPPN001186612} }
Rentrop, P.; Führer, C.; Simeon, B. The Drazin inverse in multibody system dynamics.. Numerische Mathematik, Tome 66 (1993) pp. 521-539. http://gdmltest.u-ga.fr/item/GDZPPN001186612/