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Holm, Darryl and Marsden, Jerrold and Ratiu, T. et al. (1984) Stability of rigid body motion using the Energy-Casimir method. In: Fluids and Plasmas: geometry and dynamics. Contemporary Mathematics. No.28. American Mathematical Society , pp. 15-23. ISBN 9780821850282 http://resolver.caltech.edu/CaltechAUTHORS:20100812-150925524

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