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In view of questions occurring from time to time in this forum, I've written an elementary introduction to rigid-body dynamics (mostly about the force-free and the heavy symmetric top). I hope, it's of some use:
https://itp.uni-frankfurt.de/~hees/pf-faq/spinning-top.pdf
https://itp.uni-frankfurt.de/~hees/pf-faq/spinning-top.pdf