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This research has been partially supported by OTKA grant No. 683.
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Domokos, G., Papadopulos, J. & Ruina, A. Static equilibria of planar, rigid bodies: is there anything new?. J Elasticity 36, 59–66 (1994). https://doi.org/10.1007/BF00042491
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DOI: https://doi.org/10.1007/BF00042491