M. Borri, C. L. Bottasso, and L. Trainelli, “A novel momentum-preserving energy-decaying algorithm for finit e-element multibody procedures”, CAMES, vol. 9, no. 3, pp. 315–340, Feb. 2023, Accessed: Jan. 12, 2025. [Online]. Available: https://cames3.ippt.pan.pl/index.php/cames/article/view/1121