Abstract

The dynamics of rapidly rotating bodies is formulated in a rotationally invariant form in all frames rotating with constant angular velocities relative to each other. This includes the energy, angular momentum, rotational frequency, and moment of inertia. The transformation between these quantities, when expressed in different frames, is then given explicitly and expressed in terms of both the angular momentum and the rotational frequency variables. Comparison with the approximate formula for the Routhian is made, and some consequences of physical interest are drawn