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acceleration angle angular displacement angular velocity approximate assume atoms barycenter behavior body axes boundary conditions Cartesian center of mass coefficient collision components compute configuration consider constant constraint defined derivative differential equation distance dynamical eigenfunction eigenvalue electron ellipsoid equations of motion equilibrium expression extremum problem force law formulation function gimbal given gravitational gyrocompass gyroscopic Hamilton's principle Hamiltonian Hence inertia ellipsoid inertia tensor inertial space integration involved kinematical kinetic energy Lagrangian linear magnitude mathematical matrix mechanics method metric tensor momentum natural frequencies Newton's law Newtonian nutation obtain orbital oscillator p-n junction parameters particle perturbation plane position postulate potential precession principal axes quantum relative relativistic respect result rigid body rotation scalar equations sin2 space spin stationary Substitution into Eq surface symmetry techniques theory trajectory transformation trial solution true anomaly two-body problem unit vectors vanish variable variation virtual displacement zero