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Marsden, J. and Abraham, R. (1970) Hamiltonian mechanics on Lie groups and hydrodynamics. In: Global Analysis. Proceedings of Symposia of Pure Mathematics. No.16. American Mathematical Society , Providence, R.I., pp. 237-244. ISBN 0821814141. http://resolver.caltech.edu/CaltechAUTHORS:20101001-154933140

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