@article{NUMA_1993__64_2_133719,
     author = {P. Rentrop and C. F\"uhrer and B. Simeon},
     title = {The {Drazin} inverse in multibody system dynamics.},
     journal = {Numerische Mathematik},
     pages = {521--539},
     publisher = {mathdoc},
     volume = {64},
     number = {2},
     year = {1993},
     zbl = {0797.65054},
     url = {http://geodesic.mathdoc.fr/item/NUMA_1993__64_2_133719/}
}