Khang, N. V., N. P. Dien, and P. V. Son. “Complete Shaking Force and Shaking Moment Balancing of Spatial Multibody Systems With Open Kinematic Chains”. Vietnam Journal of Mechanics, vol. 27, no. 3, Oct. 2005, pp. 171-8, doi:10.15625/0866-7136/27/3/5726.