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Simo, J. C. and Lewis, D. and Marsden, J. E. (1991) Stability of relative equilibria. Part I: The reduced energy-momentum method. Archive for Rational Mechanics and Analysis, 115 (1). pp. 15-59. ISSN 0003-9527. http://resolver.caltech.edu/CaltechAUTHORS:20100914-114922694

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