@article{holzinger2021time,
  author = {Holzinger, Stefan and Gerstmayr, Johannes},
  doi = {10.1007/s11044-021-09778-w},
  title = {{Time integration of rigid bodies modelled with three rotation parameters}},
  pages = {345--378},
  journal = {Multibody System Dynamics},
  publisher = {Springer},
  month = {2},
  number = {4},
  volume = {53},
  year = {2021},
}