Take the hierarchy Authors/Books/Characters. If I wanted
the full list of all Authors, with all Books, with all
Characters what are you suggesting I do?
The service could have a /characters resource, which returns a list of all characters, along with the author/book.
Or the top level document looks something like (in JSON):
{
"characters": "<uri>",
...
}
Doing a GET on the supplied characters URI gets you a list of characters, each with a mixture of relevant properties and a URI for the character itself so you can interact with it directly.