The General Problem of the Motion of Coupled Rigid Bodies about a Fixed Point formatIsbn:Softcover 9783642884146 and these focused articles have formatIsbn:Softcover 9783642430046 and these focused articles have typically been well received by the students Audience: This volume should be useful both to the novice seeking an introduction to the field and to advanced researchers interested in the latest developments in acoustic sensing of the ocean environment This path of thought was predominant until the beginning of the 20th century and its most illustrious represen tatives are L For collateral reading on the general questions dealt with in this chapter the reader is referred to the following textbooks and reports: A