Hello, first of all I know this post for help is not the clearest. I am looking for quick help but not necessarily the answer. I know I can solve the math of the problem but I am having trouble analyzing and setting up what I have. So I am asking for help with the approach. 1. The problem statement, all variables and given/known data Problem number 8 on this link: http://home.iitk.ac.in/~mohite/Assignment_05_AE688.pdf 2. Relevant equations Inertia of slender rod is (1/12)ml2 3. The attempt at a solution So here are the problems I have run into and would like to discuss: 1) do I consider xyz a non rotating reference frame? I found angular momentum with respect to the xyz Hx = ωsin2(phi) Hy = -ωsin(phi)cos(phi) Hz = phi 2) is Ω = (ωi + pk)? 3) The hint to the problem is to apply the general moment equation: Mx = H(dot) + HyΩz + HzΩy I get as far as assuming all terms are zero but HyΩz. Which then gives me an answer: ωp(1/12)ml2sin(phi)cos(phi) Thank you for the help.