Meriam, Kraige & Bolton — Introduction to Three-Dimensional Dynamics of Rigid Bodies: Problem 7_117

7/117 The solid cone of mass \( m \), base radius \( r \), and altitude \( h \) is spinning at a high rate \( p \) about its own axis and is released with its vertex \( O \) supported by a horizontal surface. Friction is sufficient to prevent the vertex from slipping in the \( x \)-\( y \) plane. Determine the direction of the precession \( \Omega \) and the period \( \tau \) of one complete rotation about the vertical \( z \)-axis.