Geometric Mechanics (II)      Darry D Holm

  1. Galileo
  2. Newton Lagrange Hamilton and the rigid body
  3. Quaternions
  4. Adjoint and coadjoint actions
  5. The special orthogonal group SO(3)
  6. Adjoint and coadjoint semidirect-product group actions
  7. Euler-Poincare and Lie-Poisson equations on SE(3)
  8. Heavy-top equations
  9. The Euler-Poincare
  10. Lie-Poisson Hamiltonian form of a continuum spin chain
  11. Momentum maps
  12. Round, rolling  rigid bodies

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