Question

Find the Lagrangian for a symmetric top whose tip is free to slide on a frictionless, horizontal table. For generalized coordinates use the Euler angles (θ, ϕ, ψ) plus X and Y, where (X, Y, Z) is the CM position relative to a fixed point on the table. (Note that the vertical position Z is not an independent coordinate, since Z = R cos θ.)

Answer 1