@misc{613,
  author = {W Bombardier and John McPhee and C Schmitke},
  title = {Symbolic Formulation of Multibody Dynamic Equations for Wheeled Vehicle Systems on 3D Roads},
  year = {2010},
  journal = {SAE Int. J. Mater. Manuf.},
  volume = {3},
  pages = {454-467},
}