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Doug Huffman

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Find an old Sperry Gyroscope technical manual.

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Matterwave

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This can be analyzed using the Euler's equations...which I haven't worked with in several years. However, I'd like to point out that there does not necessarily need to be a torque in order for precession to be present. In fact, since the force of gravity acts on the center of mass of the system, it does not, if I recall correctly, present a torque to the system if the system is rotating about its principle axes. The Earth, for example, is in free fall orbit and there are no torques really acting on it, and yet its rotation precesses once every ~10,000 years. There is also a nutation present.

Maybe look here for some more details:

http://en.wikipedia.org/wiki/Euler's_equations_(rigid_body_dynamics)

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http://ocw.mit.edu/courses/physics/...mechanics-fall-1999/video-lectures/lecture-24

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