How can gyroscopes be used to find the angular velocity?

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Gyroscopes are utilized to measure angular velocity through the assessment of torque needed to maintain their orientation. This principle is applied in various technologies, including the Hubble Space Telescope. The mathematical foundation involves analyzing the gyroscope's precession and the forces acting on it. Understanding these dynamics allows for precise measurements of angular velocity. For detailed mathematical explanations, resources like Wikipedia can provide additional insights.
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I was reading that gyroscopes can be used to measure the angular velocity of precession, such as in the Hubble space telescope, but mathematically how can this be done?
Many thanks
 
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