Lecture Notes in Mathematics Editors: J.-M. Morel, Cachan F. Takens, Groningen B. Teissier, Paris 1798 3 Berlin Heidelberg New York Hong Kong London Milan Paris Tokyo Waldyr Muniz Oliva Geometric Mechanics 13 Author Waldyr Muniz Oliva CAMGSD, Departamento de Matemática Instituto Superior Técnico Av. Rovisco Pais 1049-001 Lisboa, Portugal E-mail:
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