Formula_20576

\[\left.\begin{array}{l}I_{x} \dot{\omega}_{x}+\left(I_{x}-I_{y}\right) \omega_{y} \omega_{z}=M_{x}, \\I_{y} \dot{\omega}_{y}+\left(I_{x}-I_{z}\right) \omega_{z} \omega_{x}=M_{y}, \\I_{z} \dot{\omega}_{z}+\left(I_{y}-I_{x}\right) \omega_{x} \omega_{y}=M_{z},\end{array}\right\}\]