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Sreenath, N. and Oh, Y. G. and Krishnaprasad, P. S. et al. (1988) The dynamics of coupled planar rigid bodies. Part I: Reduction, equilibria and stability. Dynamics and Stability of Systems, 3 (1-2). pp. 25-49. ISSN 1465-3389. http://resolver.caltech.edu/CaltechAUTHORS:20100916-150335055

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