Qualitative analysis of motion of a heavy solid body on a smooth horizontal plane (Q1065573)

A heavy rigid body is moving frictionless on a horizontal plane. The body deviates with respect to geometry and inertia by mean of a small parameter \(\epsilon\) from a symmetric gyroscope. Its surface is convex. The kinematical state is described by Eulerian angles, Cartesian coordinates of the projection of the center of mass on the guiding plane and the conjugate generalized momenta. Firstly the motion of the unperturbed (symmetric) body, specially regular and irregular precession and nutation is analyzed. Secondly the perturbed case is studied on the base of angular and action variables of the unperturbed problem.