Figure 5
From: Controlling the motion of gravitational spinners and waves in chiral waveguides
(a) A gyropendulum includes a gyroscopic spinner connected to the tip of a rod. The rod is hinged at its base which is located at the origin of the fixed coordinate system Oxyz. The gyroscopic spinner is shown in the local coordinate system \(O'x'y'z'\), which moves with the spinner as it nutates through an angle \(\theta \), precesses through an angle \(\phi \) and spins through an angle \(\psi \). The axes of the rod and the spinner are assumed to be aligned at any instant of time. (b) Experimental observation and analytical prediction for cusp-shaped trajectories; the video of the motion is provided in the electronic supplementary material.
