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Posbergh, T. A. and Simo, J. C. and Marsden, J. E. (1989) Stability Analysis of a Rigid Body with Attached Geometrically Nonlinear Rod by the Energy-Momentum Method. In: Dynamics and control of multibody systems : proceedings of the AMS-IMS-SIAM. Contemporary Mathematics . No.97. American Mathematical Society , pp. 371-398. ISBN 0821851047 http://resolver.caltech.edu/CaltechAUTHORS:20100915-112730894

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