Wang, L.S.Krishnaprasad, Perinkulam S.Maddocks, J.H.This paper concerns the dynamics of a rigid body moving under the influence of a central gravitational field. Explicit account is taken of effects arising because of the finite extent of the body. The hamiltonian framework of the problem is exploited to elucidate questions concerning approximation, symmetry, Poisson reduction, relative equilibria, and associated stability problems.en-USIntelligent ServomechanismsTechnical Report