Euler Equations A Nexus mindmap 0 notes the origin of the coordinate system about which the angular momentum or torque is calculated 0 1 2 1 0 0 1 2 This looks worse! Now both the angular momentum components and the basis vectors are time dependent! 0 0 0 This is just the same as the perpendicular velocity of a particle moving in a circle. 1 2 1 2 4 0 3 Rotating rigid body 0 0 1 4 (We'll just remember that we're working in the principal axes) 0 3 2 Euler equations of motion 1 0 0 1 Torque free motion 2 Euler Equations