The Tulczyjew triple in mechanics on a Lie group
  Tulczyjew triple for physical systems with configuration manifold equipped with Lie group structure is constructed and discussed. The case of systems invariant with respect to group acton is considered together with appropriate reduction of the Tulczyjew triple. The theory is applied to free rigid-body dynamics. 
Marcin Zaj\k{a}c, Katarzyna Grabowska
math-ph math.MP