@book{whittaker:1964:tad,
    author = {Whittaker, E. T.},
     title = {A Treatise on the Analytical Dynamics of Particles and Rigid
              Bodies},
   edition = {4th},
 publisher = {Cambridge University Press},
   address = {Cambridge},
      year = {1964},
      note = {Reprinted in 1988.},
     pages = {xx+456},
      isbn = {0-521-35883-3},
   mrclass = {01A75 (70-01)},
  mrnumber = {MR0992404 (90a:01112)},
     zblno = {0665.70002}}