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This theory is applied to the Kirchhoff problem concerning the free motion of a rigid body in an ideal incompressible fluid whose flow is described by a potential and which is at rest at infinity. Equations of Kirchhoff type are defined by a Hamiltonian H and the Poisson brackets \\(\\{\\), \\(\\}\\) for functions on a phase space which is the dual space \\(L^*\\) of the algebra L of the group E(3) of the motions of Euclidean space \\({\\mathbb{R}}^ 3\\). For the classical Kirchhoff case  \\[  2H=\\sum^{3}_{i=1}a_{ii}M^ 2_ i+2\\sum^{3}_{i,j=1}b_{ij}((p_ jM_ i=p_ iM_ j)/2)+\\sum^{3}_{i,j=1}c_{ij}p_ ip_ j>0,  \\]   \\[  \\{M_ i,M_ j\\}=\\epsilon_{ijk}M_ k,\\quad \\{M_ i,p_ j\\}=\\epsilon_{ijk}p_ k,\\quad \\{p_ i,p_ j\\}=0,\\quad \\dot M_ i=\\{M_ i,H\\},\\quad \\dot p_ i=\\{p_ i,H\\}.  \\]  Here M, p are the momentum and impulse in a moving coordinate system. There are universal Kirchhoff integrals \\(f_ 1=P^ 2=\\sum p^ 2_ i\\), \\(f_ 2=ps=\\sum M_ ip_ i\\), \\(\\{f_{\\ell},M_ i\\}=\\{f_{\\ell},p_ i\\}=0\\), \\(l=1,2\\), \\(i=1,2,3\\). Part I contains the investigation of the case \\(f_ 2=0\\), while part II the completion of the extended LSM-theory and applications to the case \\(f_ 2\\neq 0\\) (see 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