@misc{quaternions+alternative+for+euler+angles+in+kinematic+analysis+of+machine+mechanisms,
    author = {Czyżewski, Tadeusz},
    title = {Quaternions – alternative for Euler angles in kinematic analysis of machine mechanisms},
    journal = {Technical Transactions},
    address = {Kraków},
    publisher = {<a href=\"http://www.wydawnictwo.pk.edu.pl/\" target=\"_blank\">Wydawnictwo PK</a>},
    date = {2015},
    number = {Y. 112, iss. 7-B}
}