@article {1999|1845,
	title = {Symplectic integration of closed chain rigid body dynamics with internal coordinate equations of motion},
	journal = {J. Chem. Phys.},
	volume = {111},
	number = {4},
	year = {1999},
	pages = {1407{\textendash}1414},
	author = {Alexey K Mazur}
}
