Past exam of the mathematics course of the University of Cambridge / 2009 / ii / Paper 3 / 9E / b / Solution

Set $I=I_1=I_2$. The third of the Euler equations for a torque-free rigid body gives $I_3{\dot{\omega }}_3=0$, so ${\omega }_3$ is constant. Define $\Omega =(I_3-I){\omega }_3/I$. The first two Euler equations for a torque-free rigid body becomeso ${\omega }_1+i{\omega }_2=C{e}^{i\Omega t}$. Since the body-frame angular momentum has components $(I{\omega }_1,I{\omega }_2,I_3{\omega }_3)$, its transverse components rotate at $\Omega$ while its axial component is constant. Substitution of the principal moments of inertia givesThis is precession relative to the body axes; the angular momentum is constant in an inertial frame. If $h^2=3a^2$, the rate is zero even when ${\omega }_3\ne 0$. If the transverse components vanish, the precession cone degenerates to its axis.