@article{kinon_2025_conserving,
  title        = {Conserving integration of multibody systems with singular and non-constant mass matrix including quaternion-based rigid body dynamics},
  author       = {Kinon, P. L. and Betsch, P.},
  date         = {2025},
  journaltitle = {Multibody System Dynamics},
  shortjournal = {Multibody Syst. Dyn.},
  volume       = {63},
  number       = {1},
  pages        = {303--340},
  issn         = {1573-272X},
  doi          = {10.1007/s11044-024-10001-9}
}