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MR861409 (87k:58001) 58-01 (22Exx 53C20)
Boothby, William M. An introduction to differentiable manifolds and Riemannian geometry. Second edition. Pure and Applied Mathematics, 120. Academic Press, Inc., Orlando, FL, 1986. xvi+430 pp. ISBN: 0-12-116052-1; 0-12-116053-X
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