 Inertial modes in a rigid rotating sphere

In a uniform-density incompressible flow inside a smooth rigid sphere rotating at angular speed $\Omega$, a normal mode with phase $e^{i\sigma t+im\varphi }$ has intrinsic frequency $s=\sigma +m\Omega$. For $s\ne 0,\pm 2\Omega$, eliminating velocity from the linearized Euler equations gives the displayed pressure equation, with $W=p^{\prime }/\rho$. Impermeability gives $R{W}_R+(2m\Omega /s)W+(1-4{\Omega }^2/s^2)z{W}_z=0$ on the sphere. There is no condition $W=0$: the rigid wall supplies variable normal pressure. These inertial waves are restored by Coriolis acceleration, and their pressure equation is hyperbolic for $|s|<2|\Omega |$.