Nonlinear Extension of Multiproduct Expansion Schemes and Applications to Rigid Bodies

Table 1

Numerical results for MPE method supplied with the iterative Verlet algorithm.

Verlet
Timestep	10^−6	10^−6	10^−6
Iterations per step	1	2	4
Stability	Ok	Ok	Ok
Computing time	67 min	120 min	219 min
Mean error	0.068	0.068	0.068
Maximal error	0.0187	0.0188	0.0187