I'm trying to figure out the effect of a force applied to a rotating body in 4+1 dimensions. A good place to start would be deriving the effect of forces in 3+1 dimensions. I have been looking around the Internet and even went to the local community college and checked out texts in the library and couldn't find an explanation. In 3D translation is easy, rotation is easy, what is left is precession. How is that derived from first principles? I don't need the formula with the angular momentum and cross product. I need a derivation of that.