Past exam of the mathematics course of the University of Cambridge / 2020 / ii / Paper 2 / 14B / i / Solution

In the Euler angles for a symmetric top convention, $\theta$ is the inclination of the body symmetry axis ${\mathbf{e}}_3$ from the fixed vertical, $\varphi$ is the azimuth of the line of nodes in the fixed horizontal plane, and $\psi$ is rotation about ${\mathbf{e}}_3$ measured from that line: