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Global Formulations of Lagrangian and Hamiltonian Dynamics,The Rigid Body Lagrangian and the Inertia Tensor,Unified solid–fluid Lagrangian FEM model derived from,Lagrangian relaxation of the generic materials and,Lagrangian Framework - an overview | ScienceDirect TopicsGlobal Formulation of Lagrangian and Hamiltonian Dynamics on Manifolds, Taeyoung Lee, Melvin Leok, N. Harris McClamroch