The advanced part of a treatise on the dynamics of a system of rigid bodies, being part II of a treatise on the whole subject with numerous examples

Dynamics of rotation

A. M. Worthington

Stiffness and damping in mechanical design

Eugene I. Rivin

Matrix Methods in the Design Analysis of Mechanisms and Multibody Systems

John J. Uicker

The theory of pseudo-rigid bodies

Harley Cohen

Three dimensional dynamics

Colin Eric Easthope

Robot dynamics algorithms

Roy Featherstone