%0 Journal Article %T Covariant Balance Laws in Continua with Microstructure %A Arash Yavari %A Jerrold E. Marsden %J Mathematics %D 2008 %I arXiv %R 10.1016/S0034-4877(09)00007-X %X The purpose of this paper is to extend the Green-Naghdi-Rivlin balance of energy method to continua with microstructure. The key idea is to replace the group of Galilean transformations with the group of diffeomorphisms of the ambient space. A key advantage is that one obtains in a natural way all the needed balance laws on both the macro and micro levels along with two Doyle-Erickson formulas. %U http://arxiv.org/abs/0811.2234v1