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@article {199, 
  author = {Arponen, T. and Piipponen, S. and Tuomela, J.},
   title = {Kinematic analysis of {B}ricard's mechanism},
    year = {2009},
 journal = {Nonlin. Dyn.},
  volume = {56},
  number = {1--2},
   pages = {85--99}
}