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Betsch, P., Menzel, A. and Stein, E. (1998) On the Parametrization of Finite Rotations in Computational Mechanics: A Classification of Concepts with Application to Smooth Shells. Computer Methods in Applied Mechanics and Engineering, 155, 273-305. http://dx.doi.org/10.1016/S0045-7825(97)00158-8

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