Book URL: http://www.cds.caltech.edu/~marsden/volume-/LecturesOnMechanics./lom.pdf Book Description: rigid body Hamiltonian energy body holonomy rotations equations dt map phase space reduction coordinates stability water molecule trajectory sphere momentum angular momentum motion relative equilibria lagrange multiplier class lectures problems physics mechanicsrigid bodylagrange mechanics.
Book Size: 3.37 MB PDF.