Geometric Mechanics (II) Darry
D Holm
- Galileo
- Newton Lagrange Hamilton and the rigid body
- Quaternions
- Adjoint and coadjoint actions
- The special orthogonal group SO(3)
- Adjoint and coadjoint semidirect-product group
actions
- Euler-Poincare and Lie-Poisson equations on SE(3)
- Heavy-top equations
- The Euler-Poincare
- Lie-Poisson Hamiltonian form of a continuum spin chain
- Momentum maps
- Round, rolling rigid bodies
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