Equations of Motion of a Rigid Spherical Body

  • Jan Awrejcewicz
  • Zbigniew Koruba
Part of the Advances in Mechanics and Mathematics book series (AMMA, volume 30)


In this chapter, we introduce basic equations of dynamics of a rigid body during motion about a fixed pivot point. On the basis of these equations, later in this work, we will describe gyroscopic phenomena.


Angular Velocity Rigid Body External Frame Spherical Motion Nutation Angle 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


  1. 1.
    G.K. Suslov, Theoretical Mechanics (GOSTEKHIZDAT, Moscow/Leningrad, 1946), in RussianGoogle Scholar
  2. 2.
    J. Awrejcewicz, Classical Mechanics: Kinematics and Statics (Springer, Berlin, 2012)Google Scholar
  3. 3.
    J. Awrejcewicz, Classical Mechanics: Dynamics (Springer, Berlin, 2012)Google Scholar
  4. 4.
    L.G. Loytsyanskiy, A.I. Lurie, Lectures on Theoretical Mecahanics. Part 2. Dynamics (OGIZ, Leningrad, 1948), in RussianGoogle Scholar
  5. 5.
    V.A. Pavlov, Aviational Giroscopic Devices (GOSIZDAT of the Russian Defence Industry, Moscow, 1954), in RussianGoogle Scholar
  6. 6.
    V.N. Koshlyakov, Problems of Solid Body Dynamics and Applied Theory of Gyroscopes (Nauka, Moscow, 1985), in RussianGoogle Scholar
  7. 7.
    A.M. Lestev, Nonlinear Gyroscopic Systems (LGU, Leningrad, 1983), in RussianGoogle Scholar
  8. 8.
    V.Ph. Zhuravlev, D.M. Klimov, Hemispherical Resonator Gyro (Nauka, Moscow, 1985), in Russian.Google Scholar
  9. 9.
    J.B. Scarborough, The Gyroscope: Theory and Application (Interscience, New York, 1958)Google Scholar
  10. 10.
    A.Yu. Ishlinskii, Mechanics of Gyroscopic Systems. (English translation of Russian edition) (Oldbourne, London, 1965)Google Scholar
  11. 11.
    M.A. Pavlovskiy, T.B. Putiaga, Theoretical Mechanics (Vyshaya Shkola, Kiev, 1985), in RussianGoogle Scholar
  12. 12.
    M.A. Pavlovskiy, Theory of the Gyroscope (Vyshaya Shkola, Kiev, 1985), in RussianGoogle Scholar

Copyright information

© Springer Science+Business Media, LLC 2012

Authors and Affiliations

  • Jan Awrejcewicz
    • 1
  • Zbigniew Koruba
    • 2
  1. 1.Department of Automation and BiomechanicsŁódź University of TechnologyŁódźPoland
  2. 2.Department of Computer-based Technologies and Armament EngineeringKielce University of TechnologyKielcePoland

Personalised recommendations