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About:
Spatial acceleration
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https://books.google.com/books%3Fid=Xpgi5gSuBxsC&printsec=frontcover%23PPA40,M1
https://homes.cs.washington.edu/~todorov/courses/amath533/FeatherstoneSlides.pdf%23page=23
https://web.archive.org/web/20040609052639/http:/dshell.jpl.nasa.gov/References/index.php
https://web.archive.org/web/20040609053940/http:/dshell.jpl.nasa.gov/SOA/index.php
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Spatial acceleration
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