Title:: Quaternion Variational Integrators for Spacecraft Dynamics URL: https://arc.aiaa.org/doi/10.2514/1.G001176 Zotero Link: [Manchester and Peck - 2016 - Quaternion Variational Integrators for Spacecraft .pdf](zotero://select/library/items/6KNKJITQ) integration by parts” Yellow Highlight [Page 2](zotero://open-pdf/library/items/6KNKJITQ?page=2&annotation=Z23ULS94) https://en.m.wikipedia.org/wiki/Integration_by_parts discrete equivalent of integration by parts,” Yellow Highlight [Page 3](zotero://open-pdf/library/items/6KNKJITQ?page=3&annotation=4A3YVLDZ) %% Import Date: 2023-06-13T00:55:46.652+01:00 %%