Gyroscope vector geometry (${\mathbf{\tau }}_O=d{\mathbf{L}}_O/dt$)

Choose a fixed support point $O$ and nonrotating axes in an inertial frame. All angular momenta, torques, and moments of inertia below refer to $O$. Let $\hat{\mathbf{e}}$ point along the axle from $O$ toward the centre of mass, and let $\hat{\mathbf{z}}$ point vertically upward. Write $\theta$ for their angle. For a rapidly spinning symmetric top, the dominant angular momentum is ${\mathbf{L}}_O\simeq L_s\hat{\mathbf{e}}$, where $L_s=I_3{\omega }_3$ is signed and $I_3$ is the axial principal moment of inertia. The sign of the axial angular velocity ${\omega }_3$ follows the right-hand rule.

With mass $M$, centre of mass distance $d$, and constant gravitational acceleration $g$, the gravitational force and its torque areAn ideal support applies a force at $O$, so its lever arm and torque about $O$ vanish. At the instant the axle lies in the $xz$ plane with a positive $x$ component, the gravitational torque points along $+y$. It adds $d{\mathbf{L}}_O={\mathbf{\tau }}_{O}dt$ toward $+y$, rather than along the downward force. The dot product identity $d|{\mathbf{L}}_O{|}^2/dt=2{\mathbf{L}}_O\cdot {\mathbf{\tau }}_O$ shows why perpendicular torque changes direction without instantly changing magnitude. This vector balance and the slow-turning relation ${\mathbf{\tau }}_O=\mathbf{\Omega }\times {\mathbf{L}}_O$ are developed in Chapter 20: Rotation in space (sections 20-2 and 20-3, equations 20.13–20.15).

For steady precession about the vertical, $\mathbf{\Omega }=\Omega \hat{\mathbf{z}}$ and $d\hat{\mathbf{e}}/dt=\Omega \hat{\mathbf{z}}\times \hat{\mathbf{e}}$. Equating the two cross products givesThe angular momentum tip traces a circle of radius $|L_s|\sin \theta$: its sideways speed is $|\Omega L_s|\sin \theta$. Both that radius and the gravitational lever arm contain $\sin \theta$, explaining its cancellation for $0<\theta <\pi$. Exactly vertical alignment has zero gravitational torque and no distinguishable azimuthal precession to infer by this cancellation. Positive $L_s$ gives positive precession, counterclockwise viewed from above; reversing the spin reverses the slow precession. ^[ref]