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Solving the time-independent Schrödinger equation with $\psi \propto e^{ik\varphi }$ gives $E={\hslash }^2{k}^2/(2m{R}^2)$. The periodic boundary condition requires $e^{2\pi ik}=1$, hence $k=n\in \mathbb{Z}$. With the angular integration measure $d\varphi$, wavefunction normalization givesso a convenient orthonormal eigenbasis isThe $n=0$ ground state is nondegenerate. For each $|n|>0$, $u_n$ and $u_{-n}$ span a two-dimensional energy eigenspace; real sine and cosine combinations are an equally valid basis. These opposite-circulation eigenstates have angular momentum $n\hslash$ and $-n\hslash$.

If instead the wavefunction is normalized with respect to physical arc length $ds=Rd\varphi$, its expression is $e^{in\varphi }/\sqrt{2\pi R}$. The two conventions describe the same probability, since $|u_n{|}^{2}d\varphi =|u_n/\sqrt{R}{|}^{2}ds$. The remaining parts use $d\varphi$.

A freely rotating rigid body with no external torque conserves its inertial angular momentum and kinetic energy. In body-fixed principal axes, the Euler equations includeand cyclic permutations. The body can still change its orientation relative to its fixed angular-momentum vector; zero torque does not require every principal axis to remain fixed.

For a symmetric top, $I_1=I_2=I_{\perp }$, $I_3=I_{\parallel }$. The axial rate ${\omega }_3$ is constant, and ${\omega }_1+i{\omega }_2$ rotates in body coordinates with signed frequency $(I_{\parallel }-I_{\perp }){\omega }_3/I_{\perp }$. In space,Thus the symmetry axis precesses about fixed $\mathbf{L}$ at rate $L/I_{\perp }$ and constant inclination. This body-frame and space-frame frequencies of free symmetric-top precession distinction avoids confusing two different frame-dependent rates. A sphere has no dynamically distinguished symmetry axis even though a chosen body marker rotates.

For a general body, rotations about the largest and smallest principal inertias are stable to small perturbations, while rotation about the intermediate inertia is unstable. With $I_1<I_2<I_3$ and rotation ${\omega }_2=\Omega$, linearization gives ${\ddot{\omega }}_1={\Omega }^2(I_3-I_2)(I_2-I_1){\omega }_1/(I_1{I}_3)$, showing exponential growth. This is torque-free motion, distinct from the gravity-driven precession of a supported gyroscope.

In plane polar coordinates the radial component of Newton's second law is $m(\ddot{r}-r{\dot{\theta }}^2)=-U^{\prime }(r)$. A central force has zero torque, so angular momentum $J=m{r}^2\dot{\theta }$ is constant. ThereforeFor a nonzero-angular-momentum circular orbit at $r_0$, $nB{r}_0^{n+2}=J^2/m$. The curvature there isThus a stable circular orbit, and nearby bound orbits, require $\boxed{nB>0,n>-2}$, with $n=0$ excluded. For $n>0$, $B>0$ confines the particle at large radius; for $-2<n<0$, $B<0$ permits bound energies between the effective-potential minimum and zero. At $n=-2$ there is no isolated stable minimum.

The angular frequency is ${\Omega }^2=nB{r}_0^{n-2}/m$, and radial perturbations have frequency $\kappa =\sqrt{n+2}\Omega$. A rational ratio $\kappa /\Omega$ closes the linearized near-circular trajectory. It does not prove finite-amplitude closure. Bertrand's theorem supplies the stronger conclusion: every bound orbit is closed only for $n=-1$ and $n=2$ among these smooth attractive power-law potentials. Particular circular or resonant orbits must not be confused with that all-orbit statement.

For $n=2+ϵ$, the slowly rotating elliptical orientation has angular speedThis is retrograde for $ϵ>0$ in the near-circular approximation. Consecutive radial maxima are separated by approximately $\pi$ in azimuth; the ellipse's axis is defined modulo $\pi$, which accounts for the factor of two relative to a Kepler-style apsidal convention.

A rapidly spinning gyroscope approximately has angular momentum $\mathbf{L}=I_3{\omega }_3\hat{\mathbf{e}}$ along its axle. With no torque in an inertial frame, this vector retains its direction. A transverse torque changes its direction according to $d\mathbf{L}/dt=\mathbf{\tau }$; it does not initially push the axle in the direction of the applied force.

For a fixed pivot, centre of mass $l\hat{\mathbf{e}}$ from it and gravity $-Mg\hat{\mathbf{z}}$, the torque is $Mgl\hat{\mathbf{z}}\times \hat{\mathbf{e}}$. In slow steady precession about the vertical, $d\mathbf{L}/dt=\Omega \hat{\mathbf{z}}\times \mathbf{L}$, givingThe factor $\sin \theta$ appears both in torque and in the radius traced by the angular-momentum tip, so it cancels for a nonvertical axle. Reversing spin reverses this precession. The full symmetric-top steady condition is $I_1\cos \theta {\Omega }^2-I_3{\omega }_3\Omega +Mgl=0$; the approximation neglects its quadratic term. Sudden release can also produce nutation, so large spin alone does not guarantee a steady sweep.

A wheel-on-pivot experiment can compare precession periods at different measured spin speeds and reverse the spin. Keep the pivot and centre of mass fixed; bearing friction, spin decay, an initial push and support motion can mimic departures from the predicted inverse-spin relation. A freely gimballed direction reference and a gravity-loaded precessing wheel test different torque conditions.^[ref]

Choose $z$ normal to the sheet and $x$ along the in-plane projection of the rotation axis. A uniform square has $I_x=I_y=m{a}^2/12$ and $I_z=m{a}^2/6$. Since ${\omega }_x={\omega }_z=\omega /\sqrt{2}$, the two nonzero angular-momentum components are $J_x=I_x\omega /\sqrt{2}$ and $J_z=I_z\omega /\sqrt{2}$. ThereforeAngular momentum is not parallel to the prescribed rotation axis. Multiplying the moment of inertia about that axis by $\omega$ would give the projection of angular momentum on the axis, not its magnitude.

Relative to an origin, the inertia tensor is $I_{ij}=\int (r^2{\delta }_{ij}-r_i{r}_j)dm$, with $\mathbf{J}=\mathsf{I}\mathbf{\omega }$. Its orthogonal eigenvectors are principal axes, with eigenvalues the principal moments of inertia. Different components of $\mathbf{\omega }$ are multiplied by different eigenvalues, so angular momentum need not point along angular velocity.

For a uniform thin disc, radial integration gives $I_z=\int r^{2}dm=m{a}^2/2$. The perpendicular axis theorem and symmetry then give $I_x=I_y=I_z/2$, henceFor the elastic eccentric impact of a thin disc, neglect gravity's impulse and take the pole's impulse as vertical. Let $z$ point up and let the contact position relative to the centre be $r\hat{x}$. An upward impulse $P$ givesFor an elastic impact with a fixed pole, the contact point reverses its normal velocity, so $-u+P/m+r^{2}P/I_d=+u$. ThereforeHere $v_C>0$ denotes upward motion; the centre can still move down if $r>a/2$. Substitution givesThis also follows by combining conserved angular momentum about the fixed contact with conserved kinetic energy and selecting the separating, nonzero-impulse solution. At $r=0$ the disc simply rebounds without rotation; at $r=a/2$ its centre is instantaneously stationary. The rebound result concerns the contacting material point immediately after this ideal impact, not its subsequent contact history.

Write $\mu =GM$ and $A=\mu m$. For a circular orbit of radius $r$, centripetal balance gives $v^2=\mu /r$. Thus $E=m{v}^2/2-A/r=-A/(2r)$ and $J^2=m^2{r}^2{v}^2=Amr$. Since $e=0$, $a=r_0=r$, these agree with the general expressions.

For an outward coplanar Hohmann transfer, burn prograde at the inner circle to put its radius at the ellipse's pericentre, then burn prograde at apocentre to circularize at the station's radius. The station must be phased to meet the spacecraft there. With $r_p=R$, $r_a=\alpha R$,Energy at the first burn, with $v_0^2=\mu /R$, givesAngular momentum is conserved along the transfer ellipse, so $v_{2-}=v_1/\alpha$, while the outer circular speed is $v_{2+}=v_0/\sqrt{\alpha }$. For $\alpha =3$,The correct second impulse adds $\Delta v=v_{2+}-v_{2-}$. The reversed circularization burn in a Hohmann transfer, using the same impulse magnitude, instead leavesIts magnitude is below the circular speed at $3R$, so that point is the new apocentre. Define $q=r_a{v}_w^2/\mu =(\sqrt{2}-1{)}^2=3-2\sqrt{2}$. For an ellipse at apocentre, $q=1-e_w$, givingThe lunar radius is $R/3$. Since $r_{p,w}<R/3$, the osculating orbit intersects the Moon: the spacecraft crashes before reaching its formal pericentre. The calculation uses impulsive tangential burns and a spherical central gravitational field; it does not assume that a trajectory continues through the solid body.

The original plot uses $R$ as the length unit and $R/3$ as the lunar radius. The initial station position shown is phased for rendezvous: its initial angular lead is $\pi -\pi [(1+\alpha )/(2\alpha ){]}^{3/2}$, modulo $2\pi$.

For the inertia tensor of a uniform cube, reflection symmetry makes every off-diagonal element of the central inertia tensor vanish. Permutation of the three axes makes its diagonal elements equal. Since $M=8\rho a^3$ and the mean of each squared coordinate in the cube is $a^2/3$,Every central axis is therefore a principal axis, including the body diagonal. The angular momentum is parallel to the angular velocity, and its magnitude is

For a repulsive inverse-square force, $V(r)=+\kappa /r$. The effective potential is positive and decreases from infinity to zero, so a trajectory reaching a finite radius has $E>0$. For nonzero angular momentum, it is the accessible branch of a hyperbola, with $e^2=1+2E{J}^2/(m{\kappa }^2)>1$. There are no bound ellipses or finite-distance zero-energy parabolas. At zero angular momentum, the motion is straight inward followed by straight outward after reflection at a radial turning point.

For an attractive inverse-square force, write $V(r)=-\kappa /r$ with $\kappa >0$, and take nonzero conserved angular momentum $J$. The conic section orbit hasThe physically allowed cases are ellipse for $-m{\kappa }^2/(2J^2)\le E<0$, parabola for $E=0$, and hyperbola for $E>0$. The minimum allowed energy gives the circular special case $e=0$. Here $E$ is measured relative to infinity. Zero angular momentum instead gives radial collision or escape trajectories, interpreted as degenerate limits rather than regular closed ellipses.

For the scattering calculation, take the heavy target as fixed and define $\kappa =2Z{e}^2/(4\pi {ϵ}_0)>0$. The incoming kinetic energy and angular momentum are $E=m{v}^2/2$ and $J=mvb$. In the original sketch, the horizontal dashed incoming asymptote has perpendicular distance $b$ from the nucleus, while $d$ is the radius from the nucleus to the point where $\dot{r}=0$.

At closest approach, the velocity is tangential and $v_t=J/(md)=vb/d$. conservation of energy givesChoose the positive root and put $s=\kappa /(m{v}^2)$:Head-on incidence gives $d_{\mathrm{rep}}=2s$, and repulsion always gives $d_{\mathrm{rep}}>b$. With an attractive Coulomb force, change the sign of the potential term:For $b>0$, the attractive and repulsive inverse-square closest approaches obey $d_{\mathrm{att}}{d}_{\mathrm{rep}}=b^2$. For $b=0$ attraction causes a collision with the point centre, so $d=0$ is a singular endpoint, not a regular scattering turning point. Finite nuclear size is excluded by the stated point-force model.

For the repulsive inverse-cube central force $\mathbf{F}={\kappa }_3\hat{\mathbf{r}}/r^3$, the torque vanishes, $\mathbf{r}\times \mathbf{F}=0$, and angular momentum is still conserved. Its potential energy is $+{\kappa }_3/(2r^2)$, since $-dV/dr=+{\kappa }_3/r^3$. ThusThe new coefficient is denoted ${\kappa }_3$ because its units are $\mathrm{N}{\mathrm{m}}^3$, unlike the $\mathrm{N}{\mathrm{m}}^2$ units of the inverse-square coefficient. Conserving angular momentum depends on centrality, not on a particular radial power law.

Choose body-fixed principal axes through a fixed point or the centre of mass, with principal moments $I_1,I_2,I_3$. Angular momentum has components $L_i=I_i{\omega }_i$. The inertial derivative is the body derivative plus $\mathbf{\omega }\times \mathbf{L}$, so Euler's equations readThey avoid differentiating the rotating inertia tensor in laboratory coordinates. Torques must refer to the chosen point, and the displayed fixed moments require a rigid body.

For zero torque, laboratory angular momentum is constant, while its components can change in the body frame. Both $L^2$ and rotational kinetic energy $T=\frac{1}{2}\sum I_i{\omega }_i^2$ are conserved. The intersections of their constant-value surfaces constrain the motion. For distinct $I_1<I_2<I_3$, steady rotation about either extreme principal axis is stable against small perturbations, whereas rotation about the intermediate axis is unstable. For example perturbing rotation $\Omega$ about axis 2 giveswhose coefficient is positive. A symmetric body has additional simplifications and can precess. Conservation of laboratory angular momentum does not imply constant body-frame angular velocity.

For conservative forces and ideal constraints that do no work, mechanical energy $E=T+U$ is constant. Work-energy balance remains useful with nonconservative forces: their power gives $dE/dt$. In one dimension,locates accessible regions and turning points, and reduces the trajectory to a quadrature $dt=dq/\sqrt{2(E-U)/m}$. A local minimum of potential is a stable equilibrium; a local maximum is unstable. Near a nondegenerate minimum, $U=U_0+K(q-q_0{)}^2/2+\cdots$ gives ${\omega }^2=K/m$.

For a central force, conserved angular momentum reduces radial motion to an effective potential $U_{\mathrm{eff}}=U(r)+L^2/(2m{r}^2)$. Its extrema determine circular orbits and their radial stability. In several coordinates, small oscillations follow from the kinetic-energy mass matrix $M$ and potential Hessian $K$ through $\det (K-{\omega }^{2}M)=0$.

Energy is also central to the Lagrangian $\mathcal{L}=T-U$ and the Euler-Lagrange equations. A time-independent natural mechanical system has conserved energy; cyclic coordinates yield additional momenta. Energy alone does not normally determine every coordinate of a multi-degree-of-freedom motion. Its value is to expose allowed motion, stability and reductions before solving the full differential equations.

For an attractive inverse-square potential, let the reduced mass be $\mu$, potential $-k/r$, and nonzero orbital angular momentum $\ell$. Conservation of angular momentum makes the orbit planar. The orbit equation isPositive relative energy gives $e>1$ and an unbound hyperbolic Kepler orbit, arriving from and returning to infinity. Its asymptotes satisfy $\cos {\phi }_{\infty }=-1/e$. At infinity $E=\mu v_{\infty }^2/2$ and $\ell =\mu b{v}_{\infty }$ for impact parameter $b$, so the deflection angle isThis describes gravitational encounters in the Newtonian two-body approximation. The body speeds up near periapsis while total energy remains positive. It is distinct from an elliptic bound orbit and from the zero-energy parabolic limit; repulsive Coulomb scattering also gives hyperbolae but uses a different orientation of the force and orbit.

For torque-free rotation, angular momentum is fixed in inertial space, but angular velocity need not point along it. In principal body axes,and cyclic permutations. A symmetric top with transverse moment $A$ and axial moment $C$ has constant ${\omega }_3$, while ${\omega }_1+i{\omega }_2$ rotates in body coordinates at signed frequency $(C-A){\omega }_3/A$. The symmetry axis precesses around the fixed angular momentum in space at rate $L/A$. These body-frame and space-frame rates describe different motions and need not coincide.

Poinsot construction expresses the same torque-free motion geometrically. The energy ellipsoid $\sum I_i{\omega }_i^2=2T$ is fixed in the body. Its normal at the angular-velocity point is parallel to $\mathbf{L}$, and $\mathbf{L}\cdot \mathbf{\omega }=2T$ places that point in a fixed plane perpendicular to $\mathbf{L}$. The ellipsoid rolls on this invariable plane without slipping: the instantaneous velocity of its contact point is proportional to $\mathbf{\omega }\times \mathbf{\omega }=0$. The contact curve is the polhode on the body ellipsoid and the herpolhode on the plane.^[ref]

For $I_1<I_2<I_3$, linearization about spin $\Omega$ on the third axis givesThe extreme-moment axes are stable; the intermediate one is unstable. The major-axis relaxation theorem adds weak internal dissipation while retaining negligible external torque. At fixed $L$,Energy loss favours rotation about the axis of largest principal moment. Here “major axis” means maximum inertia, not necessarily the body's longest geometric direction. A perfectly rigid torque-free body does not dissipatively settle; its energy is conserved. Distinguishing stability from relaxation also explains why minimum-inertia rotation can be stable in the ideal rigid model.

Forced precession occurs when an external torque changes $\mathbf{L}$, with $\dot{\mathbf{L}}=\mathbf{\tau }$. For steady precession, $\mathbf{\tau }={\mathbf{\Omega }}_p\times \mathbf{L}$. A rapidly spinning, pivoted heavy gyroscope has $L\simeq C{\omega }_3$ along its symmetry axis, givingThe torque is perpendicular to the nearly axial angular momentum, so it mainly changes its direction. For a steady inclined symmetric top, the more complete condition isIt exhibits slow and fast precession branches when real solutions exist. A generic release excites nutation as well: inclination oscillates instead of staying fixed. Axis constraints and bearing forces must be included when specifying which angular momentum and pivot are being used.

For slow gyroscopic precession, the gravitational torque turns the spin angular momentum: $Mg\ell \sin \theta =\Omega I_3\omega \sin \theta$, with $I_3=M{R}^2/2$. ThusThe inclination cancels at this order. More precisely, uniform precession of a heavy symmetric top satisfiesIts slow root gives $T_p\simeq 1.57\mathrm{s}$. About $1.6\mathrm{s}$ is the slow-precession answer; arbitrary initial conditions can also produce nutation rather than exact steady precession.

For a rigid body about a chosen origin,The inertia tensor is real and symmetric, so orthogonal principal axes diagonalize it. Angular momentum is parallel to angular velocity for rotation about a principal axis, but need not be parallel in a general direction. Its eigenvalues are the principal moments of inertia.

If the origin is translated from the centre of mass by $\mathbf{a}$, the parallel-axis theorem becomes $I_{ij}=I_{ij}^{\mathrm{CM}}+M(a^2{\delta }_{ij}-a_i{a}_j)$. In body axes, Euler's equation is $\mathbf{\tau }=(d\mathbf{L}/dt{)}_{\mathrm{body}}+\mathbf{\omega }\times \mathbf{L}$. Thus the full tensor is needed whenever the rotation is not confined to one fixed principal axis.

For two bodies interacting through $U({\mathbf{r}}_1-{\mathbf{r}}_2)$, defineTheir kinetic energy separates exactly:Without external forces, the centre of mass moves uniformly while $\mu \ddot{\mathbf{r}}=-\nabla U$. The relative orbit is a one-body problem with reduced mass $\mu$, not generally either individual mass. For $m_2\gg m_1$, $\mu \simeq m_1$; for equal masses $m$, $\mu =m/2$. If the interaction is central, relative angular momentum is conserved and the relative motion is planar.

A central potential conserves angular momentum and confines a nonradial orbit to a plane. With reduced mass $\mu$, the radial motion obeysTurning points satisfy $E=U_{\mathrm{eff}}$. A radially bounded allowed interval gives bound motion, whereas an interval reaching infinity permits escape. The energy sign alone classifies these only with suitable assumptions about $U(\infty )$ and barriers. Circular orbits satisfy $U_{\mathrm{eff}}^{\prime }=0$ and are radially stable when $U_{\mathrm{eff}}^{\prime \prime }>0$. Bound orbits in a general central potential need not close: successive periapses can precess.

For attractive inverse-square gravity, $U=-\kappa /r$ andEllipses have $E<0$, $e<1$, and the attracting centre at a focus; parabolic and hyperbolic escape have $e=1$ and $e>1$. Conservation of angular momentum gives equal swept areas in equal times. The inverse-square law additionally yields $T^2=4{\pi }^2{a}^3/[G(m_1+m_2)]$. These are Kepler's laws; a harmonic central potential is another example with closed bound orbits, while generic central laws produce precession.

In a gravitational assist, a spacecraft's asymptotic speed relative to a planet is approximately unchanged but its direction turns. Transforming to the frame in which the planet has velocity $\mathbf{V}$ givesThe spacecraft can gain or lose orbital energy; the planet supplies the compensating energy and momentum, with a very small velocity change because of its large mass.

Repulsive Coulomb scattering instead has $U={\kappa }_C/r$. For incident relative kinetic energy $E$ and impact parameter $b$, the hyperbolic orbit givesThis Rutherford scattering formula follows by equating the incident annulus $2\pi bdb$ to the scattered solid-angle ring. It assumes classical elastic scattering by a point Coulomb centre; screening, finite nuclear size or quantum effects can change the applicable regime.

For the attractive inverse-square force, choose zero potential energy at infinity, so $U=-A/r$. At either radial turning point $r_p,r_a$, the kinetic energy is purely tangential, with conserved angular momentum $J$. ThusIts two roots are the periapsis and apoapsis distances. Their sum is $r_p+r_a=-A/E$, whereas the ellipse has $r_p+r_a=2a$. Therefore $a=-A/(2E)$, with $E<0$ for a nondegenerate bound ellipse. The circular case follows by the double-root limit.

For the two-body problem, define $\mathbf{r}={\mathbf{r}}_B-{\mathbf{r}}_A$, total mass $M=m_A+m_B$, reduced mass $\mu =m_A{m}_B/M$, and center of mass $\mathbf{R}$. The relative equation is $\mu \ddot{\mathbf{r}}=\mathbf{F}$, while the isolated center of mass has $\ddot{\mathbf{R}}=0$. Once the relative orbit is known,The relative energy uses $\mu$ in its kinetic energy and $A=G{m}_A{m}_B$ in the gravitational potential energy.

In the equal-mass case the initial relative speed is $u$, $\mu =m/2$, and the center-of-mass velocity is half B's initial velocity. ThusNegative relative energy requires $u^2<4Gm/a_1$. The escape threshold is $u_E=2\sqrt{Gm/a_1}$; equality is marginal parabolic escape, so a strictly bound pair has $u<u_E$.

For $u=u_E/2=\sqrt{Gm/a_1}$, $E_{\mathrm{rel}}=-3G{m}^2/(4a_1)$ and the relative semimajor axis is $a=2a_1/3$. The initial transverse speed is below the relative circular value $\sqrt{2Gm/a_1}$, so the initial turning point is apoapsis. HenceChoose the initial separation along $+x$ from A to B, with B's initial velocity $+u\hat{\mathbf{y}}$. Conservation of angular momentum gives relative periapsis speed $3u$. At the opposite end of the ellipse the direction is $-\hat{\mathbf{y}}$, soThus B has the same speed as initially but the opposite velocity. A has $2u\hat{\mathbf{y}}$ at that instant. A value $3u/2$ for B would be its center-of-mass-frame speed, not the requested initial laboratory frame result.

The relative orbital period follows from Kepler's third law with total gravitating mass $2m$:In the center-of-mass frame each star follows an ellipse of semimajor axis $a_1/3$ and eccentricity $1/2$, with the center of mass at a focus; they remain opposite on their simultaneous position vectors. In the laboratory frame add the uniform drift $ut/2$ along $y$. The laboratory paths of an equal-mass binary are therefore not closed ellipses, even though their relative motion repeats.