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Holm, Darryl D. and Marsden, Jerrold E. and Ratiu, Tudor S. (1998) The Euler–Poincaré Equations and Semidirect Products with Applications to Continuum Theories. Advances in Mathematics, 137 (1). pp. 1-81. ISSN 0001-8708. http://resolver.caltech.edu/CaltechAUTHORS:20100812-100224276

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