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Marsden, J. E. and Wendlandt, J. M. (1997) Mechanical Systems with Symmetry, Variational Principles, and Integration Algorithms. In: Proceedings of the Symposium on Current and Future Directions in Mathematics. Birkhäuser , pp. 219-261. ISBN 081763956X . http://resolver.caltech.edu/CaltechAUTHORS:20100910-132222147

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