Chapter 3 of Classical Dynamics by David Tong. www.damtp.cam.ac.uk/user/tong/dynamics/dynhtml/S3.html. Section 3.5.2 resolves angular velocity in material-fixed axes; sections 3.6–3.6.3 treat the heavy symmetric top, uniform precession and upright spin stability. This is an authored lecture-note chapter, not an answer set for the assigned exam.
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