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Cendra, Hernán and Holm, Darryl D. and Marsden, Jerrold E. et al. (1998) Lagrangian Reduction, the Euler-Poincaré Equations, and Semidirect Products. American Mathematical Society Translations, 186 (1). pp. 1-25. ISSN 0065-9290. http://resolver.caltech.edu/CaltechAUTHORS:20100907-110819892

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