New Variables of Separation for the Steklov-Lyapunov System
  A rigid body in an ideal fluid is an important example of Hamiltonian systems on a dual to the semidirect product Lie algebra $e(3) = so(3)\ltimes\mathbb R^3$. We present the bi-Hamiltonian structure and the corresponding variables of separation on this phase space for the Steklov-Lyapunov system and it's gyrostatic deformation. 
Andrey V. Tsiganov
nlin.SI math-ph math.DS math.MP physics.flu-dyn