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Simo, J. C. and Posbergh, T. A. and Marsden, J. E. (1990) Stability of coupled rigid body and geometrically exact rods, block diagonalization and the energy, momentum method. Physics Reports, 193 (6). pp. 279-360. ISSN 0370-1573. http://resolver.caltech.edu/CaltechAUTHORS:20100916-075512944

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