Geodesic
New variables of separation for the Steklov–Lyapunov system
Symmetry, integrability and geometry: methods and applications, Tome 8 (2012) Cet article a éte moissonné depuis la source Math-Net.Ru

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A rigid body in an ideal fluid is an important example of Hamiltonian systems on a dual to the semidirect product Lie algebra $e(3)=so(3)\ltimes\mathbb R^3$. We present the bi-Hamiltonian structure and the corresponding variables of separation on this phase space for the Steklov–Lyapunov system and it's gyrostatic deformation.
Keywords: bi-Hamiltonian geometry, variables of separation. 
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     author = {Andrey V. Tsiganov},
     title = {New variables of separation for the {Steklov{\textendash}Lyapunov} system},
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     url = {http://geodesic.mathdoc.fr/item/SIGMA_2012_8_a11/}
}
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Andrey V. Tsiganov. New variables of separation for the Steklov–Lyapunov system. Symmetry, integrability and geometry: methods and applications, Tome 8 (2012). http://geodesic.mathdoc.fr/item/SIGMA_2012_8_a11/

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