A Closed-form Analytical Solution to Torque Free Precession: Euler-Poinsot Problem

This work aims to disclose a closed-form analytical solution to attitude motion for a rigid body subject to zero body-fixed torques, i.e., Euler-Poinsot problem. Revisiting Routh’s study, the presence of multiple solutions are identified. To verify the proposed solution, numerical simulations and real-life experiment results are presented. A Code Ocean repository is also provided so that readers could test the algorithm individually.