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Oh, Y.-G and Sreenath, N. and Krishnaprasad, P. S. et al. (1989) The dynamics of coupled planar rigid bodies. II. Bifurcations, periodic solutions, and chaos. Journal of Dynamics and Differential Equations, 1 (3). pp. 269-298. ISSN 1040-7294. http://resolver.caltech.edu/CaltechAUTHORS:20100913-092725646

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