Geodesic
Zig-zag dynamical systems and the Baker-Campbell-Hausdorff formula
Mathematica slovaca, Tome 52 (2002) no. 1, pp. 79-97.

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Classification : 17B66, 37C10 
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     title = {Zig-zag dynamical systems and the {Baker-Campbell-Hausdorff} formula},
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Klíč, Alois; Pokorný, Pavel; Řeháček, Jan. Zig-zag dynamical systems and the Baker-Campbell-Hausdorff formula. Mathematica slovaca, Tome 52 (2002) no. 1, pp. 79-97. http://geodesic.mathdoc.fr/item/MASLO_2002__52_1_a7/