Source: http://fltsi.fr/tsi/tsi2/Cours%20et%20TD%20par%20Domaines%20de%20Competence_TSI2/DC20_Cinematique_et_actions_mecaniques%20des%20systemes/COURS_DC20_et%20Fiches_Outils/CI20%20Cin%C3%A9matique%20Lois%20E%20S.pdf