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References

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    O. Gonzalez, Time Integration and Discrete Hamiltonian Systems, J. Nonlinear Sci. 6, 449-467 (1996).
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    P. Betsch and P. Steinmann, Frame- indifferent beam finite elements based upon the geometrically exact beam theory, Int. J. Numer. Meth. Engrg. 54, 1775-1788 (2002).