On dynamical equations in s-parameters for rigid body attitude motion

In the paper, the attitude motion of a rigid body in a potential force field is under consideration. The complete set of three modified Rodrigues-Hamilton parameters, also known as s-parameters, and corresponding three generalized momenta is used for rigid body attitude representation. A new form of canonical differential equations for rigid body attitude dynamics is constructed. Built equations are suitable for analytical and numerical studying the problem of rigid body attitude dynamics.