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Stability analysis and Lyapunov exponents of a multi-body m..:

Awrejcewicz, J. ; Kudra, G.
Nonlinear Analysis: Theory, Methods & Applications.  63 (2005)  5-7 - p. e909-e918 , 2005
Link: https://doi.org/10.1016/j.na.2004.12.038