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v 5.5 5.6 5.7 5.8 Coords and Constraints............................................................................5-9 Attaching a Coord to the Flywheel........................................................5-10 Attaching a Coord to the Rotation Axle.................................................5-12 Creating a Revolute Joint.......................................................................5-13 Attaching the Gyroscope to the Ground.......................................................5-16 Tilting the Gyroscope.............................................................................5-16 Creating an Attachment Point on the Ground........................................5-18 Creating an Attachment Point on the Gyroscope...................................5-19 Creating a Spherical Joint......................................................................5-20 Giving Initial Spin to the Gyroscope............................................................5-22 Running the Simulation................................................................................5-23 Displaying the Angular Velocity Vector......................................................5-25