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I'm stuck with the simulation of something that is very intuitive in reality. It's easy to produce a combined cartwheeling and spinning motion with a screwdriver by flicking the wrist at the right time.

But what combination of angular parameters describes the evolution of this rotation about primary and secondary axes simultaneously?

I've written a simple program that numerically integrates body orientation from a constant body-relative angular velocity (ignoring momentum for simplicity). The angular velocity is set high about the primary axis and low about a secondary. But of course the rod just wobbles, rotating about the one and only fixed angular velocity axis.

So what am I lacking in my understanding of the problem? ;)

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# Cartwheeling/spinning rod problem

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