In order to solve the Gyroscope Equations angles related to axes I, J and K are needed which can be resolved to axes i, j and k.
Unique angular coordinates, Euler's angles are used, these are
Euler's angles completely
specify the angular position of the body
I, J, K is the absolute reference frame, i, j, k is the body fixed reference frame initially aligned with I, J, K. Euler's angles are then obtained as follows
