We derive the equations of motion of an extended test body in the context of Einstein's theory of gravitation. The equations of motion are obtained via a multipolar approximation method and are given up to the quadrupolar order. Special emphasis is put on the explicit construction of the so-called canonical form of the energy-momentum density. The set of gravitational multipolar moments and the corresponding equations of motion allow for a systematic comparison to competing multipolar approximation schemes.
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Steinhoff et al. (2010) studied this question.
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