1. 1 Handout #17 Tennis racket demo Euler’s equations Motion of a free body No external torques Response to small disturbances  Tennis racket theorem  Nutation Inertia tensor redux Inertia tensor of a cube Inertia tensor of a rectangle Lamina theorem :02

2. 2 Inertia Tensor  If choose principal axes, Inertia tensor is diagonal :02

3. 3 Vectors expressed in rotating frames Imagine same axes (x,y,z) expressed in two frames S 0 stationary) and S (fixed to earth). CORRECT

4. 4 Euler’s Equation :60

5. 5 Small perturbations :60

6. 6 Small perturbations -II :60

7. 7 Handout #17 Windup - I Euler Without external torques :60 Rotations about the “middle-valued” principal axis are unstable