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http://www.springerlink.com/content/q38801g4t998634x/ (Publisher version)
Walser, M. W., & Keitel, C. H. (2001). Geometric and Algebraic Approach to Classical Dynamics of a Particle with Spin. Letters in Mathematical Physics, 55(1), 63-70. doi:10.1023/A:1010957006903.