@article{NUMA_1991__59_8_133539,
     author = {C. F\"uhrer and B.J. Leimkuhler},
     title = {Numerical solution of differential-algebraic equations for constrained mechanical motion.},
     journal = {Numerische Mathematik},
     pages = {55--70},
     publisher = {mathdoc},
     volume = {59},
     number = {8},
     year = {1991},
     zbl = {0701.70003},
     url = {http://geodesic.mathdoc.fr/item/NUMA_1991__59_8_133539/}
}