lˈeɪɾɚ lˈiənhɑːɹd ˈɔɪlɚ dᵻɹˈaɪvd ɐ sˈɛt ʌv ᵻkwˈeɪʒənz ðæt dᵻskɹˈaɪbd ðə daɪnˈæmɪks ʌv ɹˈɪdʒɪd bˈɑːdiz ɪn tˈoːɹkfɹˈiː mˈoʊʃən.
Later Leonhard Euler derived a set of equations that described the dynamics of rigid bodies in torque-free motion.