Clean up the third equation a bit
![[Maple Math]](images/Precession53.gif){kind=small}
![[Maple Math]](images/Precession54.gif)
![[Maple Math]](images/Precession55.gif){kind=small}
![[Maple Math]](images/Precession56.gif)
![[Maple Math]](images/Precession57.gif)
![[Maple Math]](images/Precession58.gif)
![[Maple Math]](images/Precession59.gif)
![[Maple Math]](images/Precession60.gif){kind=small}
![[Maple Math]](images/Precession61.gif){kind=small}
![[Maple Math]](images/Precession62.gif)
![[Maple Math]](images/Precession63.gif)
![[Maple Math]](images/Precession64.gif){kind=small}