Try a couple of sanity checks of the proposed equation:
1) If the rotation rate is not changing, the second derivative is zero. Does that mean that it is not rotating at all?
2) Since the right hand side is always positive, does that mean that the rotation rate can only get more positive?
I'm reviewing Meirovitch's "Methods of Analytical Dynamics," and I don't understand the commutation of the derivative from r to dr:
$$
\mathbf{F} \cdot d\mathbf{r} = m \ddot{\mathbf{r}} \cdot d\mathbf{r} = m\mathbf{\dot{r}} \cdot d\mathbf{\dot{r}}
$$