The dynamics is studying for rigid body rotating around fixed axis Oz being central but not principal. Therefore the inertial torques Mx and My arose depending both on mass geometry Jxz, Jyz and on angular velocity ω and acceleration ". Dry friction acting on axis’s supports with coefficient δ leads to that the value of " serves as the reason and result of the motion simultaneously. There were integrated numerically and/or analytically the dynamical equations of free and forced motion including rotational harmonic and inharmonic oscillations too.
