@article{TAM_1984_10_1_a13,
     author = {Ya. V. Tatarinov},
     title = {Kinematic formulas of a rigid body in connection with the modified determination of the final rotation vector},
     journal = {Theoretical and applied mechanics},
     pages = {139 },
     year = {1984},
     volume = {10},
     number = {1},
     language = {en},
     url = {http://geodesic.mathdoc.fr/item/TAM_1984_10_1_a13/}
}