@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/