Discrete Lagrange D'Alembert-Poincaré equations for Euler's disk

Article: 
Discrete Lagrange D'Alembert-Poincaré equations for Euler's disk
Authors: 
C. Martínez Campos, H. Cendra, V. Díaz, D. Martín de Diego
Journal: 
RACSAM- Rev. R. Acad. Cienc. Exactas Fis. Nat. Ser. A Mat.
Volume: 
DOI 10.1007/s13398-011-0053-3
Year: 
2011
URL: 
http://www.springerlink.com/content/64q61823m772351h/