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Holm, Darryl D. and Marsden, Jerrold E. (1991) The Rotor and the Pendulum. In: Proceedings of Colloquium in honor of Jean-Marie Souriau. Progress in Mathematics. No.99. Birkhauser Boston , pp. 189-203. ISBN 0817635815. http://resolver.caltech.edu/CaltechAUTHORS:20100812-075154192

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