@inproceedings{ Baraff:1996:DB,
  title = "Linear-Time Dynamics using Lagrange Multipliers",
  author = "David Baraff",
  booktitle = "Proceedings of SIGGRAPH 96",
  series = "Computer Graphics Proceedings, Annual Conference Series",
  month = aug,
  year = "1996",
  pages = "137--146",
}