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Bloch, Anthony M. and Crouch, Peter E. and Marsden, Jerrold E. et al. (2002) The symmetric representation of the rigid body equations and their discretization. Nonlinearity, 15 (4). pp. 1309-1341. ISSN 0951-7715. https://resolver.caltech.edu/CaltechAUTHORS:BLOnonlin02

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