Geometric mechanics  
Holm, Darryl D. 
 - London : | Hackensack, NJ :  Imperial College Press ; | Distributed by World Scientific,  2008 
 - xvi, 294 p.;  ill. (some col.) ;  24 cm. 
<br/><br/><label>ISBN: </label>9781848161566 (pt. 2 ; pbk.)