SD Kwak, L Blankevoort, and GA Ateshian.
  <b>A Mathematical Formulation for 3D Quasi-Static Multibody
  Models of Diarthrodial Joints</b>.
  <i>Computer methods in biomechanics and biomedical engineering</i>,
  3(1):41-64, 2000.
  <A HREF="http://vis.cs.brown.edu/docs/pdf/bib/g/Kwak-2000-MFQ.pdf.html">(pdf)</A>
  <A HREF="http://vis.cs.brown.edu/results/bibtex/Kwak-2000-MFQ.bib">(bibtex:
  Kwak-2000-MFQ)</A>.<br />