Geometric Mechanics - Part Ii: Rotating, Translating And Rolling (2nd Edition) - Holm, Darryl D (Imperial College London, Uk)

Introduces the tools and language of modern geometric mechanics to advanced undergraduate and beginning graduate students in mathematics, physics, and engineering. This book treats the dynamics of rotating, spinning and rolling rigid bodies from a geometric viewpoint, by formulating their solutions as coadjoint motions generated by Lie groups.