1. Golubev, V.V.: Lectures on Integration of the Equations of Motion of a Rigid Body about a Fixed Point. State Publishing House of Theoretical Technical Literature, Moscow, 1953. Published for the National Science Foundation by the Israel Program for Scientific Translations (1960)
2. Thomson, W.T.: Introduction to Space Dynamics. Dover, New York (1986). (Sect. 5.11)
3. Wittenburg, J.: Dynamics of Systems of Rigid Bodies. B.G. Teubner, Stuttgart (1977). (Sect. 4.1.3)
4. Hughes, P.: Spacecraft Attitude Dynamics. Wiley, New York (1986). (Sect. 4.3)
5. Kaplan, M.H.: Modern Spacecraft Dynamics & Control. Wiley, New York (1976). (Sect. 2.3.6)