=+Problem 2.20 Generalize the formula (2.115) to integrate a normal equation (2.105) when it corresponds to a rigid body mode (hint: apply l’Hôpital’s rule and take the limit for ???? → 0).

Problem 2.21 Consider the rotating system of Example 2.9, page (145), with the same numerical values. Following the theory and notations introduced in Section 2.11, solve the associated symmetric eigenproblem (Section 2.11.4):

BTA−1B???? = S???? = ????A????