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MR1232914 58F05 (70H33 70H35)
Marsden, Jerrold E.; Scheurle, Jürgen The reduced Euler-Lagrange equations. Dynamics and control of mechanical systems (Waterloo, ON, 1992), 139–164, Fields Inst. Commun., 1, Amer. Math. Soc., Providence, RI, 1993.
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