DINAMIKA GASING BALIK DENGAN PERSAMAAN POINCARE PADA RUANG KONFIGURASI R2xSO(3) dan RxSixSO(3)

A tippe top is a toy that has the form of a truncated sphere with a small peg. When the toy is spun on its spherical part on a flat supporting surface or tube inner surface it will start to turn upside down to spin on its peg. Here the tippe top equation of motion has been derived using Poincaré equation-based Routhian reduction. However, the Poincaré equation required that quasi-coordinate of the quasi-velocity was found, while in the case of the tippe top dynamics there is not any exact solution of the quasi-coordinate of the quasi-velocity. Therefore, the tippe top equation must be reduced to solve the problem. In this thesis Poincaré equation-basedRouthian reduction was used to derive the equation motion of tippe top on flat plane and tube inner surface.A computation in finding numerical solution of the tippe top dynamics has also been made using Maple program