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MR1723696 (2000i:70002) 70-02 (37Jxx 53Dxx 70Gxx 70Hxx)
Marsden, Jerrold E.; Ratiu, Tudor S. Introduction to mechanics and symmetry. A basic exposition of classical mechanical systems. Second edition. Texts in Applied Mathematics, 17. Springer-Verlag, New York, 1999. xviii+582 pp. ISBN: 0-387-98643-X
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