Book from García de Jalón and Bayo
(Springer-Verlag, 1994)

The book from J. García de Jalón and E. Bayo, 

"Kinematic and Dynamic Simulation of Multibody Systems. The Real-Time Challenge", ISBN 0-387-94096-0, 440 pp., Springer-Verlag, New-York, 1994, 

is now available to download and print.