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==External links==
*[http://physsim.sourceforge.net The Moby rigid body dynamics simulator contains an implementation of Featherstone's algorithm]
*[http://www.kuffner.org/james/software/ Source code for implementation of Featherstone's algorithm
*[http://www.thyrix.com/documentation/featherstone_method.php Description and references]
*[http://www.kuffner.org/james/software/dynamics/mirtich/ Mirtich's Thesis]
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