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2002 October 18, S. J. Peale, Man Hoi Lee, “A Primordial Origin of the Laplace Relation Among the Galilean Satellites”, in Science, volume 298, number 5593, →DOI, page 594:
The currently observed orbital resonances at the 2:1 mean motion commensurabilities involving Io-Europa and Europa-Ganymede are such that the resonance variables and librate about 0° and librates about 180°, all with small amplitude.