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The velocity map \\(\\mathcal{L}_{\\xi}\\) introduces the dynamics,  \\[  \\dot{\\mathbf{Q}}(t)=\\mathcal{L}_{\\xi}\\mathbf{Q}(t), \\eqno{(2)} \\]  where \\(\\mathbf{\\xi}\\in V\\) and \\( \\dot{\\mathbf{Q}} \\in T_{{Q}}M \\) is tangent to the curve \\(\\mathbf{Q}(t)\\) in the manifold \\(M\\). Such variational principles arise in two different contexts: \\begin{itemize}\\item[1.] The optimal control context, in which one seeks solutions for \\(\\mathbf{Q}(t)\\) governed by the dynamics (2) that control the motion along a curve in an interval \\(0\\leq t \\leq T,\\) so as to minimize the cost in (1) for a given cost functional \\(l[\\mathbf{\\xi}]\\). \\item[2.] The Hamilton's principle context, in which stationarity \\(\\delta S=0\\) of the action in (1) implies dynamical equations for \\(\\mathbf{\\xi}\\) subject to the constraint imposed by the velocity map (2).  The Clebsch approach enforces (2) through a Lagrange multiplier term in the action or cost. Doing so produces dynamical equations for \\(\\mathbf{Q}\\) and for the Lagrange multiplier \\(\\mathbf{P}\\) in terms of \\(\\mathbf{\\xi}\\), together with a formula for \\(\\mathbf{\\xi}\\) given in terms of \\(\\mathbf{Q}\\) and \\(\\mathbf{P}\\). The Lagrangian multiplier \\(\\mathbf{P}\\) is also the canonically conjugate momentum for \\(\\mathbf{Q}\\) in the corresponding Hamiltonian formulation, and the formula for \\(\\mathbf{\\xi}\\) in terms of \\(\\mathbf{Q}\\) and \\(\\mathbf{P}\\) has special significance in the Hamiltonian frame-work. It is shown that \\(\\mathbf{Q}\\) and \\(\\mathbf{P}\\) may be eliminated from the resulting Clebsch equations, if and only if the velocity map \\(\\mathcal{L}_{\\xi}\\) is a Lie algebra action on \\(\\mathbf{Q} \\in M.\\) The Clebsch framework for velocity maps thus has a clear connection with the theory of Euler-Poincar\u00e9 reduction; namely, the equations obtained are the Euler-Poincar\u00e9 equations on the dual of the Lie algebra. For the continuous time case where the velocity map is assumed to be a Lie derivative, this connection is not unexpected.  Examples included the finite-dimensional rigid body equation, and two infinite-dimensional examples: the singular solutions of the EPDiff equation and the incompressible Euler equation. In the EPDiff example, the Clebsch framework derives the singular solutions as a family of momentum maps.  Also it is shown how discrete Clebsch variational principles can be used to produce numerical methods for Clebsch 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