Motion Control of a Spinning Disc on Rotating Earth
  This paper considers the motion control of a particle and a spinning disc on rotating earth. The equations of motion are derived using Lagrangian mechanics. Trajectory planning is studied as an optimization problem using the method referred to as Discrete Mechanics and Optimal Control. 
Fangxu Jing, Eva Kanso, Paul K. Newton
physics.flu-dyn physics.ao-ph physics.class-ph physics.geo-ph