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MR719663 58F05 (58G40 70E15 73C99 76N99 76W05 78A99)
Marsden, Jerrold E.; Raţiu, Tudor S.; Weinstein, Alan Semidirect products and reduction in mechanics. Trans. Amer. Math. Soc. 281 (1984), no. 1, 147–177.
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