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MR607652 (82g:58032) 58F05 (58F07 70E99)
Raţiu, Tudor Euler-Poisson equations on Lie algebras and the $N$-dimensional heavy rigid body. Proc. Nat. Acad. Sci. U.S.A. 78 (1981), no. 3, part 1, 1327–1328.
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