%0 Journal Article %A Rochinha, Fernando-A. %A Sampaio, Rubens %D 2000 %J Computer Modeling in Engineering \& Sciences %@ 1526-1506 %V 1 %N 2 %P 7--18 %T Non-Linear Rigid Body Dynamics: Energy and Momentum Conserving Algorithm %M doi:10.3970/cmes.2000.001.167 %U http://www.techscience.com/CMES/v1n2/24677