NEUMANN, J. .; SCHWEIZERHOF, K. . Estimation of global time integration errors in rigid body dynamics. European Journal of Computational Mechanics, [S. l.], v. 15, n. 6, p. 671–698, 2006. Disponível em: https://journals.riverpublishers.com/index.php/EJCM/article/view/2063. Acesso em: 19 jun. 2026.