Advanced Character Physics
This article explains how the physics was made in IO Interactive's game Hitman by using particles and constraints. With this system they were able to simulate cloth, rigid body physics, stacked crates, and moving plants. One notable application is animating the death sequence of characters.
Physics of Racing Series
Rigid Body Dynamics
Exploring Spring Model
October 2001 - Gustavo Oliveira
A thorough description of the spring model, from the physics of a single spring to the application of springs in strings, cloth, and jelly.
Unconstrained Rigid Body Motion
Lasse Staff Jensen
This article goes through the theory of unconstrained rigid body motion, i.e. how forces affect objects' linear and angular motion.
Nonconvex Rigid Bodies with Stacking
Eran Guendelman, Robert Bridson, Ronald Fedkiw
This article describes an algorithm designed to handle a large amount of rigid bodies to give a plausible result in an efficient manner. It is not meant to give an exact simulation of physics but only something that looks realistic.
FastLSM: Fast Lattice Shape Matching for Robust Real-Time Deformation
2007 - Alec Rivers, Doug James
Soft body physics in real-time
A unified framework for rigid body dynamics
Mar, 2006 - Helmut Garstenauer
A detailed article on rigid body dynamics.