Newton-Euler, Lagrange and Kirchhoff formulations of rigid body   dynamics: a unified approach
  A unified formulation of rigid body dynamics based on Gauss principle is proposed. The Lagrange, Kirchhoff and Newton-Euler equations are seen to arise from different choices of the quasicoordinates in the velocity space. The group-theoretical aspects of the method are discussed. 
Enrico Massa, Stefano Vignolo
math-ph gr-qc math.MP