Gyroscopic Motion - II

We assume that the top's axis is symetrical with z-axis as the axis of symmetry.

The reference xyz has the same nutation and precession motion as the body, but is chosen such that the body is rotated with an angular speed relative to it. O is a fixed point.

Here, is the angular velocity of reference xyz at O.

Let I_z be the moment of inertia about the z-axis and I be the moment of inertia about an axis normal to the z -axis at O.