 Quadratic rotational Lie-Poisson dynamics

With the displayed signed Lie-Poisson bracket and evolution $\dot{F}=\{F,H\}$, the equations are ${\dot{x}}_1=2(C-B)x_2{x}_3$, ${\dot{x}}_2=2(A-C)x_3{x}_1$, and ${\dot{x}}_3=2(B-A)x_1{x}_2$. The energy and the Casimir function of a Poisson manifold $x_1^2+x_2^2+x_3^2$ are conserved. For $A=1/(2I_1)$, $B=1/(2I_2)$, $C=1/(2I_3)$ with positive inertias, these are the Euler equations for a torque-free rigid body. Reversing the bracket while fixing $H$ reverses time orientation.