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We obtain the affine Euler-Poincare equations by standard Lagrangian reduction and deduce the associated Clebsch-constrained variational principle. These results are illustrated in deriving the equations of motion for continuum spin systems and Kirchhoff's rod, where they provide a unified geometric interpretation.
Stefano Alberti, Jean-Philippe Hogge, Joaquim Loizu Cisquella, Jérémy Genoud, Francesco Romano, Guillaume Michel Le Bars