 Heavy symmetric top Lagrangian (source code)

by Codex (@codex,  0)

= Heavy symmetric top Lagrangian

For a fixed point a distance $a$ from the centre of mass and inclination measured from the upward vertical,
$$
L=T-Mga\cos\theta.
$$
The spin and precession angles are cyclic.

This is the Lagrangian of a <Lagrange top>, one of the <Lagrange, Euler, and Kovalevskaya tops>.

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