 3. The Motion of Rigid Bodies

Online text: www.damtp.cam.ac.uk/user/tong/dynamics/three.pdf

Cited passages: Classical Dynamics by David Tong, §3.4.3, The Asymmetric Top: Stability, printed pp. 57–58, equations (3.40)–(3.45); Classical Dynamics by David Tong, §3.4.3, equations (3.41)–(3.45), and §3.4.4, invariants (3.46)–(3.47); the invariant-bound argument here is an original short derivation.