id	sid	eid	entity	type
ap-1686	1	1	acta polytechnica vol	PERSON
ap-1686	2	1	52	CARDINAL
ap-1686	3	1	6/2012	CARDINAL
ap-1686	3	2	michael valášek	PERSON
ap-1686	3	3	ladislav mráz department of mechanics	ORG
ap-1686	3	4	czech technical university	ORG
ap-1686	3	5	prague	GPE
ap-1686	3	6	4	CARDINAL
ap-1686	3	7	czech	NORP
ap-1686	8	1	two	CARDINAL
ap-1686	11	1	1	CARDINAL
ap-1686	17	1	two	CARDINAL
ap-1686	18	1	2	CARDINAL
ap-1686	18	2	linear algebraic	FAC
ap-1686	18	3	lae	ORG
ap-1686	19	1	mq̈	PERSON
ap-1686	19	2	1	CARDINAL
ap-1686	19	3	the jacobi matrix φ	ORG
ap-1686	20	1	2	CARDINAL
ap-1686	20	2	andq2	PERSON
ap-1686	21	1	second	ORDINAL
ap-1686	25	1	lae	ORG
ap-1686	26	1	7	CARDINAL
ap-1686	28	1	two	CARDINAL
ap-1686	28	2	lae	ORG
ap-1686	29	1	3	CARDINAL
ap-1686	32	1	1	CARDINAL
ap-1686	32	2	94	CARDINAL
ap-1686	32	3	acta polytechnica vol	PERSON
ap-1686	33	1	52	CARDINAL
ap-1686	34	1	6/2012	CARDINAL
ap-1686	34	2	1	CARDINAL
ap-1686	35	1	fig.	DATE
ap-1686	36	1	1	CARDINAL
ap-1686	36	2	two	CARDINAL
ap-1686	36	3	cartesian	NORP
ap-1686	38	1	lagrange	GPE
ap-1686	38	2	second	ORDINAL
ap-1686	38	3	misi = fi	PERSON
ap-1686	38	4	1	CARDINAL
ap-1686	38	5	2	DATE
ap-1686	40	1	3	CARDINAL
ap-1686	40	2	0	CARDINAL
ap-1686	41	1	2	CARDINAL
ap-1686	44	1	ϕ̈i]t	PERSON
ap-1686	46	1	− fbi	PERSON
ap-1686	46	2	fki	ORG
ap-1686	46	3	y + fbi	PERSON
ap-1686	46	4	+ fai	PERSON
ap-1686	46	5	+ fai	PERSON
ap-1686	46	6	y −(fki+1,y + fbi+1,y)`i sϕi	PERSON
ap-1686	46	7	 +	ORG
ap-1686	46	8	2	CARDINAL
ap-1686	46	9	2	CARDINAL
ap-1686	47	1	4	CARDINAL
ap-1686	47	2	fai	PERSON
ap-1686	49	1	[fai	PERSON
ap-1686	49	2	fai	PERSON
ap-1686	50	1	2	CARDINAL
ap-1686	51	1	springs	ORG
ap-1686	51	2	fbi	ORG
ap-1686	53	1	1	CARDINAL
ap-1686	56	1	2	CARDINAL
ap-1686	57	1	fki	ORG
ap-1686	57	2	y = k(−yi + ybi−1	PERSON
ap-1686	57	3	fbi	ORG
ap-1686	57	4	b(ẋi	DATE
ap-1686	57	5	− ẋbi−1	PERSON
ap-1686	57	6	fbi	ORG
ap-1686	57	7	+ ẏbi−1	GPE
ap-1686	57	8	5	CARDINAL
ap-1686	60	1	6	CARDINAL
ap-1686	62	1	7	CARDINAL
ap-1686	62	2	one	CARDINAL
ap-1686	63	1	m1 m2	PERSON
ap-1686	64	1	mn	GPE
ap-1686	65	1	= 	PERSON
ap-1686	65	2	fn(t	ORG
ap-1686	67	1	ṡ1	ORG
ap-1686	71	1	95	CARDINAL
ap-1686	72	1	52	CARDINAL
ap-1686	73	1	6/2012	CARDINAL
ap-1686	73	2	3	CARDINAL
ap-1686	74	1	the spring	DATE
ap-1686	74	2	one	CARDINAL
ap-1686	79	1	3	CARDINAL
ap-1686	80	1	10	CARDINAL
ap-1686	80	2	11	CARDINAL
ap-1686	81	1	two	CARDINAL
ap-1686	82	1	two	CARDINAL
ap-1686	83	1	two	CARDINAL
ap-1686	84	1	4.	CARDINAL
ap-1686	84	2	first	ORDINAL
ap-1686	84	3	second	ORDINAL
ap-1686	86	1	4	CARDINAL
ap-1686	86	2	4	CARDINAL
ap-1686	89	1	three	CARDINAL
ap-1686	89	2	8	CARDINAL
ap-1686	90	1	first	ORDINAL
ap-1686	91	1	two	CARDINAL
ap-1686	92	1	second	ORDINAL
ap-1686	94	1	third	ORDINAL
ap-1686	95	1	one	CARDINAL
ap-1686	98	1	η	ORG
ap-1686	98	2	one	CARDINAL
ap-1686	99	1	4	CARDINAL
ap-1686	99	2	lae	PERSON
ap-1686	100	1	lae	ORG
ap-1686	101	1	lae	ORG
ap-1686	101	2	9	CARDINAL
ap-1686	103	1	two	CARDINAL
ap-1686	103	2	two	CARDINAL
ap-1686	104	1	5	CARDINAL
ap-1686	104	2	second	ORDINAL
ap-1686	107	1	96	CARDINAL
ap-1686	107	2	acta polytechnica vol.	PERSON
ap-1686	108	1	52	CARDINAL
ap-1686	109	1	6/2012	CARDINAL
ap-1686	109	2	ɲ vi	PERSON
ap-1686	110	1	5	CARDINAL
ap-1686	113	1	f(s	EVENT
ap-1686	114	1	0	CARDINAL
ap-1686	115	1	9	CARDINAL
ap-1686	115	2	0	CARDINAL
ap-1686	115	3	10	CARDINAL
ap-1686	115	4	jacobian	NORP
ap-1686	116	1	11	CARDINAL
ap-1686	116	2	lagrange	GPE
ap-1686	117	1	lagrange	GPE
ap-1686	119	1	12	CARDINAL
ap-1686	120	1	10	CARDINAL
ap-1686	120	2	11	CARDINAL
ap-1686	122	1	13	CARDINAL
ap-1686	123	1	lagrange	GPE
ap-1686	123	2	12	CARDINAL
ap-1686	128	1	cartesian	NORP
ap-1686	128	2	vi	PERSON
ap-1686	129	1	5	CARDINAL
ap-1686	131	1	13	CARDINAL
ap-1686	133	1	14	CARDINAL
ap-1686	135	1	15	CARDINAL
ap-1686	135	2	14	CARDINAL
ap-1686	136	1	16	CARDINAL
ap-1686	136	2	15	CARDINAL
ap-1686	136	3	17	CARDINAL
ap-1686	136	4	lagrange	GPE
ap-1686	136	5	18	CARDINAL
ap-1686	137	1	18	CARDINAL
ap-1686	137	2	16	CARDINAL
ap-1686	137	3	12	CARDINAL
ap-1686	138	1	18	CARDINAL
ap-1686	141	1	18	CARDINAL
ap-1686	141	2	19	CARDINAL
ap-1686	145	1	19	CARDINAL
ap-1686	145	2	18	CARDINAL
ap-1686	146	1	19	CARDINAL
ap-1686	148	1	20	CARDINAL
ap-1686	148	2	97	CARDINAL
ap-1686	149	1	52	CARDINAL
ap-1686	150	1	6/2012	CARDINAL
ap-1686	150	2	η	GPE
ap-1686	150	3	18	CARDINAL
ap-1686	152	1	lagrange	GPE
ap-1686	153	1	20	CARDINAL
ap-1686	154	1	one	CARDINAL
ap-1686	155	1	19.8	CARDINAL
ap-1686	155	2	5	CARDINAL
ap-1686	155	3	7.7	CARDINAL
ap-1686	156	1	10	CARDINAL
ap-1686	156	2	58.0	CARDINAL
ap-1686	156	3	21.0	CARDINAL
ap-1686	158	1	2–3	DATE
ap-1686	159	1	5	CARDINAL
ap-1686	162	1	two	CARDINAL
ap-1686	164	1	1	CARDINAL
ap-1686	164	2	k.	PERSON
ap-1686	164	3	anderson	PERSON
ap-1686	164	4	k.	PERSON
ap-1686	165	1	k. et al	PERSON
ap-1686	167	1	2009	DATE
ap-1686	167	2	warsaw	GPE
ap-1686	167	3	2009	DATE
ap-1686	169	1	1–12	CARDINAL
ap-1686	170	1	2	CARDINAL
ap-1686	170	2	a. et al	PERSON
ap-1686	171	1	three	CARDINAL
ap-1686	171	2	linear	ORG
ap-1686	172	1	c.l. et al	PERSON
ap-1686	173	1	2007	DATE
ap-1686	173	2	2007	DATE
ap-1686	175	1	1–21	CARDINAL
ap-1686	176	1	3	CARDINAL
ap-1686	176	2	r.	NORP
ap-1686	177	1	1	CARDINAL
ap-1686	179	1	j. robot	PERSON
ap-1686	181	1	1999	DATE
ap-1686	182	1	867–875	CARDINAL
ap-1686	182	2	4	CARDINAL
ap-1686	182	3	r.	NORP
ap-1686	183	1	2	CARDINAL
ap-1686	185	1	j. robot	PERSON
ap-1686	187	1	1999	DATE
ap-1686	188	1	876–892	CARDINAL
ap-1686	188	2	5	CARDINAL
ap-1686	188	3	mukherjee	PERSON
ap-1686	188	4	r.m.	GPE
ap-1686	188	5	anderson	PERSON
ap-1686	188	6	k.s.	GPE
ap-1686	191	1	2009	DATE
ap-1686	191	2	warsaw	GPE
ap-1686	191	3	poland	GPE
ap-1686	191	4	2009	DATE
ap-1686	192	1	6	CARDINAL
ap-1686	192	2	m. et al	PERSON
ap-1686	195	1	2009	DATE
ap-1686	195	2	warsaw	GPE
ap-1686	195	3	poland	GPE
ap-1686	195	4	2009	DATE
ap-1686	196	1	7	CARDINAL
ap-1686	196	2	z.	PERSON
ap-1686	196	3	valasek	GPE
ap-1686	196	4	m.:	PERSON
ap-1686	198	1	j. mech	PERSON
ap-1686	199	1	1997	DATE
ap-1686	200	1	325–339	CARDINAL
ap-1686	200	2	8	CARDINAL
ap-1686	200	3	l.	GPE
ap-1686	200	4	valasek	GPE
ap-1686	200	5	m.:	PERSON
ap-1686	200	6	three	CARDINAL
ap-1686	200	7	2012	DATE
ap-1686	201	1	9	CARDINAL
ap-1686	201	2	l.	GPE
ap-1686	201	3	valasek	GPE
ap-1686	201	4	m.: effectivesolutionofmultibodydynamicsusingmodifiedstatespace	PERSON
ap-1686	201	5	2012	DATE
ap-1686	201	6	wbu	PERSON
ap-1686	201	7	pilsen 2012	PERSON
ap-1686	202	1	1-4	CARDINAL
ap-1686	202	2	10	CARDINAL
ap-1686	202	3	calvo m. p.	PERSON
ap-1686	202	4	sanz-serna	ORG
ap-1686	202	5	j. m.:	PERSON
ap-1686	202	6	siam journal	ORG
ap-1686	202	7	2010	DATE
ap-1686	203	1	2029-2046	DATE
ap-1686	203	2	11	CARDINAL
ap-1686	203	3	sanz-serna	ORG
ap-1686	203	4	j. m. et al	PERSON
ap-1686	204	1	departmento de matemáticaaplicada	PERSON
ap-1686	204	2	universidad de valladolid	ORG
ap-1686	204	3	spain	GPE
ap-1686	204	4	2009 98	DATE