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Theory Manual Version 3.6
 Subsection 6.3.3: Rigid Body Momentum Balance Up Section 6.3: Rigid Body Dynamics Subsubsection 6.3.4.1: Newmark Integration for Rigid Body Dynamics 

6.3.4 Time Discretization

 Subsection 6.3.3: Rigid Body Momentum Balance Up Section 6.3: Rigid Body Dynamics Subsubsection 6.3.4.1: Newmark Integration for Rigid Body Dynamics 

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