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MR835009 (88e:22032) 22E70 (17B10 20C35 58F05 81C40)
Sattinger, D. H.; Weaver, O. L. Lie groups and algebras with applications to physics, geometry, and mechanics. Applied Mathematical Sciences, 61. Springer-Verlag, New York, 1986. xii+215 pp. ISBN: 0-387-96240-9
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