Translatory-rotatory motion of a gyrostat in a newtonian force field

The paper deals with a system made of two gyrostats attracting one another according to Newton's law. The Hamiltonian is expressed in the modified canonical variables of Delaunay and Serret-Andoyer. After straightforward eliminations and changes of variables, the problem is integrated in a particular case to the first order of perturbation by means of an infinitesimal contact transformation.