Question: Use type I Euler angles to analyze the free rotational motion of a rigid body. ( a ) Obtain equations for , , in terms

Use type I Euler angles to analyze the free rotational motion of a rigid body. (a)
Obtain equations for , , in terms of , , , assuming that the H vector points
upward in the direction of the negative Z-axis. (b) What do these equations reduce
to if the rigid body is symmetrical about its x-axis?

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