Marsden, J.E & Ratiu, T.S <br/><br/>
Introduction to mechanics & symmetry 
J.E. Marsden & T.S. Ratiu 
 - 2 
 - New York  Springer  1999 
 - xviii  584 
 - Texts in applied mathematics 17 .
<br/><br/><label>ISBN: </label>9780387986432 
<br/><br/><label>Dewey Class. No.: </label>13.02+10.13  / MARS