@article{closedformtimederivativesoftheequationso,
  title = {Closed Form Time Derivatives of the Equations of Motion of Rigid Body Systems},
  author = {Andreas Mueller and Shivesh Kumar},
  year = {2025},
  eprint = {2507.11076},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2507.11076},
}