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 proper has been dealt with, the attitude of the moment-free satellite, including the gyrostat, is st…