... Clebsch potentials and further references, see Marsden and Weinstein [1983], Marsden, Ratiu, and Weinstein [1984a, 1984b], Cendra and Mars-den [1987], and Cendra, Ibort, and Marsden [1987].1.2 ... Schmid, and Spencer [1983], Marsden, Ratiu, and Weinstein [1984a, 1984b], and Holm and Kupershmidt[1983]. The Lagrangian approach to this and related problems is given inHolm, Marsden, and Ratiu ... Chernoff and Marsden [1974] and Marsden and Hughes [1983].Exercises 1.1-1. Show by direct calculation that the classical Poisson bracket sat-isfies the Jacobi identity . That is, if F and K are...