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Marsden, J. E. and O'Reilly, O. M. and Wicklin, F. J. et al. (1991) Symmetry, Stability, Geometric Phases, and Mechanical Integrators. Nonlinear Science Today, 1 (1). pp. 4-11. ISSN 0938-9008 . http://resolver.caltech.edu/CaltechAUTHORS:20100924-151603037

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