Introductory Attitude Dynamics

From the preface: "The present text deals with attitude dynamics and is devoted to satellites of finite size. It begins with a discussion of the inertia moment tensor, Euler''s law, Euler''s angles, Euler''s equations, and Euler''s frequencies. After that a thorough treatment of the concept of centre of gravity versus centre of mass is given. After libration has been discussed and gyrodynamics pro...