Abstract
The Euler-Poinsot equations of rigid body motion are considered. The Euler parameters attitude parametrization is assumed. The Hamiltonian form of these equations is obtained. Two different solutions are shown. A short discussion of free motion in this new treatment is also given.
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Maciejewski, A.J. Hamiltonian formalism for Euler parameters. Celestial Mechanics 37, 47–57 (1985). https://doi.org/10.1007/BF01230340
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DOI: https://doi.org/10.1007/BF01230340