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Gay-Balma, François and Holm, Darryl D. and Ratiu, Tudor S. (2009) Variational principles for spin systems and the Kirchhoff rod. Journal of Geometric Mechanics, 1 (4). pp. 417-444. ISSN 1941-4889. http://resolver.caltech.edu/CaltechAUTHORS:20100615-091444814

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