APA (7th ed.) Citation

Terze, Z., Müller, A., & Zlatar, D. (2016). Singularity-free time integration of rotational quaternions using non-redundant ordinary differential equations. Multibody system dynamics, 38(3), 201-225. https://doi.org/10.1007/s11044-016-9518-7

Chicago Style (17th ed.) Citation

Terze, Zdravko, Andreas Müller, and Dario Zlatar. "Singularity-free Time Integration of Rotational Quaternions Using Non-redundant Ordinary Differential Equations." Multibody System Dynamics 38, no. 3 (2016): 201-225. https://doi.org/10.1007/s11044-016-9518-7.

MLA (9th ed.) Citation

Terze, Zdravko, et al. "Singularity-free Time Integration of Rotational Quaternions Using Non-redundant Ordinary Differential Equations." Multibody System Dynamics, vol. 38, no. 3, 2016, pp. 201-225, https://doi.org/10.1007/s11044-016-9518-7.