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Cendra, Hernán and Marsden, Jerrold E. and Pekarsky, Sergey et al. (2003) Variational Principles for Lie—Poisson and Hamilton—Poincaré Equations. Moscow Mathematical Journal, 3 (3). pp. 833-867. ISSN 1609-3321. http://resolver.caltech.edu/CaltechAUTHORS:20100727-093528997

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