“…The dynamics near the first two can be studied in terms of the coordinates (u, v) defined according to (30) where they correspond to the points (0, 0) (for J = (r, 0, 0)), (π, 0) (for J = (−r, 0, 0)), (π/2, 0) (for J = (0, r, 0)) and (3π/2, 0) (for J = (0, −r, 0)) (see figure 2(a)). The dynamics near the relative equilibria J = (0, 0, ±r) (and again J = (0, ±r, 0)) can be studied in terms of (u, v) defined according to (38) where they correspond to the points the points (0, 0) (for J = (0, 0, r)), (π, 0) (for J = (0, 0, −r)), (π/2, 0) (for J = (0, r, 0)) and (3π/2, 0) (for J = (0, −r, 0)) (see figure 2(b)). The reduced Hamiltonian has local maxima at J = (±r, 0, 0) which correspond to rotations in either direction about the principal axis with the smallest moment of inertia, and minima at J = (0, 0, ±r) which correspond to rotations in either direction about the principal axis with the largest moment of inertia.…”