Finding a Dynamics Book with Derivation for Angular Acceleration

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In an undergraduate dynamics class, the professor utilized tensors and made assumptions that led to the derivation of equations for angular acceleration, highlighting the instability of rotation in certain scenarios. The textbook by Johnston and Beer lacks derivations, prompting the search for a more comprehensive resource. Suggestions include looking for a 400-level or graduate-level text that provides detailed derivations. "Analytical Dynamics" by Baruh is recommended as a potential supplement. The discussion emphasizes the need for a deeper understanding of angular acceleration through rigorous derivation.
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in an undergrad introductory dynamics class, my professor used tensors, and assumed things went to zero to derive equations for angular acceleration.
he then proceeded to show how a rotating body with certain moments of inertia will experience unstable rotation about certain axes due to the previously mentioned assumption not being valid

johnston and beer do not cover this, they merely spit out equations with no derivation
is there a better book? perhaps a 400 level text, or even graduate level text that I can look at to get this derivation?
thanks!
 
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I used "Analytical Dynamics" by Baruh to supplement my textbook in one of my graduate classes. It may have what you are looking for.
 

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