...
https://www.nhbb.com/knowledge-center/engineering-reference/rod-end-spherical-bearings/load-ratings#:~:text=Axial%20Proof%20Load%3A%20The%20axial,003%20or%20less. Resource on loading bearings
https://danceswithcode.net/engineeringnotes/quaternions/quaternions.html
Decision Matrices:
3- vs. 4-Wheel Decision Matrix
...