@article{AIF_1982__32_1_211_0,
     author = {Ratiu, Tudor and Moerbeke, P. Van},
     title = {The {Lagrange} rigid body motion},
     journal = {Annales de l'Institut Fourier},
     pages = {211--234},
     publisher = {Institut Fourier},
     address = {Grenoble},
     volume = {32},
     number = {1},
     year = {1982},
     doi = {10.5802/aif.866},
     mrnumber = {84k:58086},
     zbl = {0466.58020},
     language = {en},
     url = {http://www.numdam.org/articles/10.5802/aif.866/}
}