In order to solve the
Gyroscope
Equations angles related to axes I, J and K are needed which
can be resolved to axes
i, j and
k.
Unique angular coordinates, Euler's angles are used, these
are
Euler's angles completely
specify the angular position of the body
I, J, K is the absolute reference frame,
i, j, k is the body
fixed
reference frame initially aligned with I, J, K. Euler's angles are then
obtained as follows