General solution to the Euler-Poisson equations of a free Lagrange top directly for the rotation matrix (2303.02431v1)

Abstract: The Euler-Poisson equations para determinar the rotation matrix of a rigid body can be solved without using of particular parameterization like the Euler angles. For the free Lagrange top, we obtain and discuss a general analytic solution, and compare it with the Poinsot's picture of motion.