Derive the expression for total energy for a heavy symmetric top.
For a heavy symmetric top, the top has symmetry about its axis of rotation (say, the z-axis in the body frame), with a fixed point at the tip. Let (I_1 = I_2 \neq I_3) be the principal moments of inertia about the axes perpendicular and along the symmetry axis, respectively. Let (M) be the mass of the top, (g) the acceleration due to gravity, _____ _________ __________ _______ ______ _______ _______ __________ ________ ___.
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