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Posbergh, T. A. and Krishnaprasad, Perinkulam S. and Marsden, Jerrold E. (1987) Stability Analysis of a Rigid Body with a Flexible Attachment Using the Energy-Casimir Method. In: Differential geometry: the interface between pure and applied mathematics. Contemporary Mathematics. No.68. American Mathematical Society , Providence, RI, pp. 253-273. http://resolver.caltech.edu/CaltechAUTHORS:20100820-143039517