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    • https://phys.libretexts.org/Bookshelves/Classical_Mechanics/Classical_Mechanics_(Tatum)/04%3A_Rigid_Body_Rotation/4.05%3A_Euler's_Equations_of_Motion
      Euler's rotation equations are a vectorial quasilinear first-order ordinary differential equation describing the rotation of a rigid body, using a rotating reference frame with its axes fixed to the b...Euler's rotation equations are a vectorial quasilinear first-order ordinary differential equation describing the rotation of a rigid body, using a rotating reference frame with its axes fixed to the body and parallel to the body's principal axes of inertia.

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