Physically-Based Modeling for Computer Graphics: A Structured Approach 
By Ronen Barzel, Foreword by Alan H. Barr
October 1992
ISBN 0-12-079880-08


Physics for Game Developers
by David M. Bourg
November 2001 
O'Reilly & Associates
ISBN 0-596-00006-5


Computational Dynamics
by Ahmed A. Shabana
2nd edition (February 2001) 
Wiley-Interscience
ISBN: 0471371440 


Dynamics of Multibody Systems
by Ahmed A. Shabana
2nd edition (April 1998) 
Cambridge University Press
ISBN: 0521594464 


Dynamic Simulations of Multibody Systems
by Murilo G. Coutinho
(July 2001) 
Springer Verlag
ISBN: 038795192X