(11) h1 = Ap, h2 = Aq, h3 = Cr + K,
where A, C denote the moment of inertia about Gx, Gz, and K is the
angular momentum of a fly-wheel fixed in the interior with its axis
parallel to Gz; K is taken as constant during the motion.
The axis Gz being fixed in the body,
(12) [theta]1 = p, [theta]2 = q = -d[theta]/dt,
[theta]3 = p cot [theta].