368(2): Motion of a Gyroscope in Spherical Polar Coordinates

This note gives the complete set of equations for the motion of a gyroscope modelled as a symmetric top with one point fixed. These are Eqs. (27) to (29), and Eqs. (32) and (33) for the motion of Z(r), the height of the centre of mass of the gyro above its fixed point. In order for the gyro to lift off the ground, another force is needed in the positive Z(r) direction. Eqs. (32) and (33) can be solved for the motion of r using computer algebra.


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