Title:: A lie group variational integrator for the attitude dynamics of a rigid body with applications to the 3D pendulum URL: Zotero Link: [Lee et al_2005_A lie group variational integrator for the attitude dynamics of a rigid body.pdf](zotero://select/library/items/HNCXIEFP) %% Import Date: 2023-06-07T21:44:08.337+01:00 %%