(A)
Eliminating Y between (19) and (21)
| ( | A | + z2 ) | dp | − xz | dr | − | A | pq cot θ + q | h3 |
| M | dt | dt | M | M |
− pqz (x + z cot θ − ρ sin θ) + qrzρ cos θ = 0,
(25)
| −xz | dr | + ( | A | + z2 ) | dp | + | A | p cot θ − | h3 |
| dθ | M | dθ | M | M |
+ pz (x + z cot θ − ρ sin θ) + rzρ cos θ = 0.
(B)
In the special case of a gyrostat rolling on the sharp edge of a circle passing through G, z = 0, ρ = 0, (A) and (B) reduce to
| p = ( | C | + 1 ) | dr | = ( | 1 | + | 1 | ) | dh3 | , |
| Mx2 | dθ | Mx2 | C | dθ |