# how can i determine the equations of the instantaneous helical axis relative

A point O of a rigid solid describes a plane O1X1Y1 a radius b of angular velocity ω const n. The body rotates around O by executing a regular precession motion (φ' = ν = const, θ = θ0 = const.). The angular velocity of the rotation of the solid is proportional to the rate of precession (ψ' = kν, k> 0 const). To determine the equations of the instantaneous helical axis relative to the fixed line and to represent in the Matlab the geometric location depicted by the instantaneous helical axis relative to the fix.