James Clerk Maxwell,
On a Dynamical Top, for exhibiting the phenomena of the motion of a system of invariable form about a fixed point…
“ The theory of the rotation of a rigid system is strictly deduced from the elementary laws of motion, but the complexity of the motion of the particles of a body freely rotating renders the subject so intricate, that it has never been thoroughly understood by any but the most expert mathematicians. Many who have mastered the lunar theory have come to erroneous conclusions on this subject; and even Newton has chosen to deduce the disturbance of the earth’s axis from his theory of the motion of the nodes of a free orbit, rather than attack the problem of the rotation of a solid body. ”
