@inbook{712,
  author = {John McPhee},
  editor = {J.A.C Ambrosio},
  title = {Unified Modelling Theories for the Dynamics of Multidisciplinary Multibody Systems},
  year = {2005},
  journal = {Advances in Computational Multibody Systems},
  pages = {129-158},
  publisher = {Springer-Verlag},
}