Body-frame and space-frame frequencies of free symmetric-top precession
= Body-frame and space-frame frequencies of free symmetric-top precession
For principal inertias $I_\perp,I_\perp,I_\parallel$, the transverse angular-velocity components rotate in body axes at signed rate $(I_\parallel-I_\perp)\omega_3/I_\perp$. The symmetry axis precesses about the inertially fixed <angular momentum> at rate $L/I_\perp$. These are different frame-dependent descriptions of the same motion.