@conference {RosenthalS:1983, title = {{Symbolic Multibody Equations via Kane{\textquoteright}s Method}}, booktitle = {Proceedings of the AAS/AIAA Astrodynamics Specialist Conference}, year = {1983}, note = {Paper No. 83-303}, month = {August}, address = {Lake Placid, NY}, author = {Dan E. Rosenthal and Mike A. Sherman} }