On the representation of rigid body rotational dynamics in Hertzian configuration space

In a previous paper by the author, a geometrical procedure was presented for deriving Lagrange’s equations for a rigid body. The rigid body was represented by an abstract particle moving in a 12-dimensional Euclidean space, called Hertzian configuration space, the metric of which is determined by the radius of gyration of the body. The present paper focuses on the representation of the underlying rotational dynamics in Hertzian space.