In Chapter 8, we discussed situations where the direction of the vector L remained constant, and only its magnitude changed. In this chapter, we will look at more general situations where the direction of L is allowed to change. The vector nature of L will prove to be vital here, and we will arrive at all sorts of strange results for spinning tops and such things. This chapter is rather long, alas, but the general outline is that the first three sections cover general theory, then Section 9.4 introduces some actual physical setups, and then Section 9.6 begins the discussion of tops.

Preliminaries concerning rotations

The form of general motion

Before getting started, we should make sure we're all on the same page concerning a few important things about rotations. Because rotations generally involve three dimensions, they can often be hard to visualize. A rough drawing on a piece of paper might not do the trick. For this reason, this chapter is one of the more difficult ones in this book. But to ease into it, the next few pages consist of some definitions and helpful theorems. This first theorem describes the general form of any motion. You might consider it obvious, but it's a little tricky to prove.