@ARTICLE{Wojtyra_M._Joint_2012, author={Wojtyra, M. and Frączek, J.}, volume={60}, number={No 3}, journal={Bulletin of the Polish Academy of Sciences Technical Sciences}, pages={617-626}, howpublished={online}, year={2012}, title={Joint reactions in rigid or flexible body mechanisms with redundant constraints}, URL={http://www.journals.pan.pl/Content/83639/PDF/23_paper.pdf}, doi={10.2478/v10175-012-0073-y}, }