Mechanics of Cosserat media: I. non-relativistic statics
  The Cosserat equations for equilibrium are derived by starting from the action of the group of smooth functions with values in the Lie group of rigid spatial motions on rigid frames in Euclidian space. The method of virtual work is employed, instead of the method of action functionals, and is defined using the methods of of jet manifolds. It is shown how the restriction to fundamental forms (which define the dynamical state of the Cosserat object) that are Euclidian is essential to obtaining the Cosserat equations. 
D. H. Delphenich
math-ph cond-mat.other gr-qc math.MP