Gravitational waves from rotating and precessing rigid bodies. 2: General solutions and computationally useful formulae

The classical mechanics results for free precession which are needed in order to calculate the weak field, slow-motion, quadrupole-moment gravitational waves are reviewed. Within that formalism, algorithms are given for computing the exact gravitational power radiated and waveforms produced by arbitrary rigid-body freely-precessing sources. The dominant terms are presented in series expansions of the waveforms for the case of an almost spherical object precessing with a small wobble angle. These series expansions, which retain the precise frequency dependence of the waves, may be useful for gravitational astronomers when freely-precessing sources begin to be observed