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Johns, O. (2011-05-19). Kinematics of Rotation. In Analytical Mechanics for Relativity and Quantum Mechanics. : Oxford University Press,. Retrieved 26 Jun. 2019, from https://www.oxfordscholarship.com/view/10.1093/acprof:oso/9780191001628.001.0001/acprof-9780191001628-chapter-8.