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Marsden, Jerrold E. and Scheurle, Jürgen (1993) The Reduced Euler-Lagrange Equations. In: Dynamics and Control of Mechanical Systems: The Falling Cat and Related Problems. Fields Institute Communications. No.1. AMS and Fields Institute , pp. 139-164. ISBN 9780821892008 http://resolver.caltech.edu/CaltechAUTHORS:20100908-112639904

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