Geodesic
An integrable case of dynamical equations on $so(4)\times\mathbb R^4$
Trudy Matematicheskogo Instituta imeni V.A. Steklova, Tome 60 (2005) no. 6, pp. 1245-1246 
M. V. Shamolin. An integrable case of dynamical equations on $so(4)\times\mathbb R^4$. Trudy Matematicheskogo Instituta imeni V.A. Steklova, Tome 60 (2005) no. 6, pp. 1245-1246. http://geodesic.mathdoc.fr/item/RM_2005_60_6_a16/
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