tensor 98 // §33. Angular momentum of a rigid body 105 // §34. The equations of motion of a rigid body 107 // §35. Eulerian angles 110 // §36. Euler’s equations 114 // §37. The asymmetrical top 116 // §38. Rigid bodies in contact 122 // §39. Motion in a non-inertial frame of reference 126 // VII. THE CANONICAL EQUATIONS // §40. Hamilton’s equations 131 // §41. The Routhian 133 // §42. Poisson brackets 135 // §43. The action as a function of the co-ordinates 138 // §44. Maupertuis’ principle 140 // §45. Canonical transformations 143 // §46. Liouville’s theorem 146 // §47. The Hamilton-Jacobi equation 147 // §48. Separation of the variables 149 // §49. Adiabatic invariants 154 // §50. Canonical variables 157 // §51. Accuracy of conservation of the adiabatic invariant 159 // §52. Conditionally periodic motion 162 // Index 167