Given a system of differential equations which admits a continuous group of symmetries and possesses a periodic solution, we show that under certain nondegeneracy assumptions there always exists a continuous family containing infinitely many periodic and quasi-periodic trajectories. This generalizes the continuation method of Poincaré to orbits which are not necessarily periodic. We apply these results in the setting of the Lagrangian N -body problem of homogeneous potential to characterize an infinite family of rotating nonplanar "hip-hop" orbits in the four-body problem of equal masses, and show how some other trajectories in the N -body theory may be extended to infinite families of periodic and quasi-periodic trajectories.
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