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MR1304682 58F05 (58-01 70-01 70Hxx)
Marsden, Jerrold E.; Ratiu, Tudor S. Introduction to mechanics and symmetry. A basic exposition of classical mechanical systems. Texts in Applied Mathematics, 17. Springer-Verlag, New York, 1994. xvi+500 pp. ISBN: 0-387-97275-7; 0-387-94347-1
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