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Marsden, Jerrold E. and Scheurle, Jürgen and Wendlandt, Jeffrey M. (1996) Visualization of orbits and pattern evocation for the double spherical pendulum. In: ICIAM 95 : proceedings of the Third International Congress on Industrial and Applied Mathematics. Mathematical Research. No.87. Akademie Verlag , Berlin, pp. 213-232. ISBN 3055016823. http://resolver.caltech.edu/CaltechAUTHORS:20100923-094959773

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