@article {1117,
	title = {On the Grobner Basis Triangularization of Constraint Equations in Natural Coordinates},
	journal = {Multibody System Dynamics},
	volume = {31},
	year = {2014},
	pages = {371-392},
	author = {T Uchida and A Callejo and J Garcia de Jalon and John McPhee}
}
