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Marsden, J. E. and Simo, J. C. and Lewis, D. et al. (1989) A block diagonalization theorem in the energy-momentum method. In: Dynamics and control of multibody systems : proceedings of the AMS-IMS-SIAM joint summer conference. Comtemporary Mathematics. No.97. American Mathematical Society , pp. 297-313. ISBN 0821851047. http://resolver.caltech.edu/CaltechAUTHORS:20100910-080520844

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