Differential geometry, Lie groups and mechanics. Part 15–2
        p. 54-86
        
        
        
        
      
    
  
        p. 193-198
        
        
        
        
      
    
  
        p. 235-244
        
        
        
        
      
    
  
        p. 260-272
        
        
        
        
      
    
  