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Lewis, D. and Ratiu, T. and Simo, J. C. et al. (1992) The heavy top: a geometric treatment. Nonlinearity, 5 (1). pp. 1-48. ISSN 0951-7715. doi:10.1088/0951-7715/5/1/001. https://resolver.caltech.edu/CaltechAUTHORS:LEWnonlin92

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