The method of averaging for Euler's equations of rigid body motion

We formulate the method of averaging for perturbations of Euler's equations of rotational motion. Euler's equations are three strongly nonlinear coupled differential equations that can be viewed as a three dimensional oscillator. The method of averaging is used to determine the long-term influence of perturbation terms on the motion by averaging about the nominal rigid body motion. The treatment is applicable to a large class of motions including precession with large nutation - it is not restricted to small motions about simple spins or nearly axi-symmetric bodies. Three examples are shown that demonstrate the accuracy of the method's predictions.