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-# Useful links
-## Constrained dynamics
- - [A lot of pictures to get general idea and familiarize, but not very understandable](https://danielchappuis.ch/download/ConstraintsDerivationRigidBody3D.pdf)
- - [More text and math but very well written and understandable](https://graphics.pixar.com/pbm2001/pdf/notesf.pdf)