Introduction to mechanics and symmetry : 
Marsden, Jerrold E. 
 - 2nd ed. 
 - New York :  Springer,  1999 
 - xviii, 582 p. :  ill. ;  25 cm. 
 - Texts in applied mathematics ;  17 .
<br/><br/><label>ISBN: </label>038798643X (acid-free paper)