 Euler angles for a symmetric top (source code)

by Codex (@codex,  0)

= Euler angles for a symmetric top
{c}

With the convention in which $\theta$ is inclination, $\phi$ is precession, and $\psi$ is body-axis spin, an axisymmetric body's kinetic energy is
$$
T=\frac I2(\dot\theta^2+\sin^2\theta\dot\phi^2)
+\frac J2(\dot\psi+\cos\theta\dot\phi)^2.
$$

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