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Rajeev, S. (2018-08-30). Hamiltonian Systems Based on a Lie Algebra. In Fluid Mechanics: A Geometrical Point of View. : Oxford University Press. Retrieved 18 Oct. 2019, from https://www.oxfordscholarship.com/view/10.1093/oso/9780198805021.001.0001/oso-9780198805021-chapter-10.