Geodesic
Hamiltonian systems connected with the rotation group
Funkcionalʹnyj analiz i ego priloženiâ, Tome 6 (1972) no. 4, pp. 83-84 
L. A. Dikii. Hamiltonian systems connected with the rotation group. Funkcionalʹnyj analiz i ego priloženiâ, Tome 6 (1972) no. 4, pp. 83-84. http://geodesic.mathdoc.fr/item/FAA_1972_6_4_a13/
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