オイラーの運動方程式
N 1 = I 1 d ω 1 d t − ( I 2 − I 3 ) ω 2 ω 3 N 2 = I 2 d ω 2 d t − ( I 3 − I 1 ) ω 3 ω 1 N 3 = I 3 d ω 3 d t − ( I 1 − I 2 ) ω 1 ω 2 {\displaystyle {\begin{matrix}N_{1}&=&I_{1}{\frac {\mathrm {d} \omega _{1}}{\mathrm {d} t}}-(I_{2}-I_{3})\omega _{2}\omega _{3}\\N_{2}&=&I_{2}{\frac {\mathrm {d} \omega _{2}}{\mathrm {d} t}}-(I_{3}-I_{1})\omega _{3}\omega _{1}\\N_{3}&=&I_{3}{\frac {\mathrm {d} \omega _{3}}{\mathrm {d} t}}-(I_{1}-I_{2})\omega _{1}\omega _{2}\\\end{matrix}}}