Hi all. I ended up to this section in K&K (2nd edition, but with 1st is the same) when they derive the wobbling motion of a simple body in torque-free precession. [see the attached file] Equations 8.23 and 8.24 are integrated into 8.25[a|b], but I think signs are wrong. Shouldn't be negative cosine in 8.25a and positive sine in 8.25b ? Another problem is that equations 8.26[a|b] have the same sign, shouldn't they be opposite ? This is the second edition of the book so I'm doubting if I'm tired and missing something. Thanks in advance.