Classical Hamiltonian Dynamics and Lie Group Algebras
  The classical Hamilton equations of motion yield a structure sufficiently general to handle an almost arbitrary set of ordinary differential equations. Employing elementary algebraic methods, it is possible within the Hamiltonian structure to describe many physical systems exhibiting Lie group symmetries. Elementary examples include magnetic moment precession and the mechanical orbits of color charged particles in classical non-abelian chromodynamics. 
B. Aycock, A. Roe, J. L. Silverberg, A. Widom