Geodesic
The motion of a gyroscope in a Cardan suspension when there is a moment with respect to the axis of natural rotation
Doklady Akademii Nauk, Tome 139 (1961) no. 2, pp. 327-330.

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@article{DAN_1961_139_2_a17,
     author = {S. A. Kharlamov},
     title = {The motion of a gyroscope in a {Cardan} suspension when there is a moment with respect to the axis of natural rotation},
     journal = {Doklady Akademii Nauk},
     pages = {327--330},
     publisher = {mathdoc},
     volume = {139},
     number = {2},
     year = {1961},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/DAN_1961_139_2_a17/}
}
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S. A. Kharlamov. The motion of a gyroscope in a Cardan suspension when there is a moment with respect to the axis of natural rotation. Doklady Akademii Nauk, Tome 139 (1961) no. 2, pp. 327-330. http://geodesic.mathdoc.fr/item/DAN_1961_139_2_a17/