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T. Leitz, S. Ober-Blöbaum, and S. Leyendecker, “Variational Lie group formulation of geometrically exact beam dynamics: Synchronous and asynchronous integration,” in Zdravko Terze, Multibody Dynamics, vol. 35, Springer International Publishing, 2014, pp. 175–203.
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T. Leitz, S. Ober-Blöbaum, and S. Leyendecker, “Variational integrators for dynamical systems with rotational degrees of freedom,” 2014.
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