[UPSC CSE 2007] Rigid Body Dynamics (Q226, 15M)

The angular momentum \vec{M} of a rigid body comprising of N particles and rotating with angular velocity \vec{\omega} is given by : \vec{M} = \sum_{k=1}^{N} m_k \vec{r}_k \times (\vec{\omega} \times \vec{r}_k) where the origin coincides with the centre of mass. Express the components of \vec{M} in terms of components of the inertia tensor. Hence, show that the most general free rotation of a spherical top is a uniform rotation about an axis fixed in space.