Rigid motions: action-angles, relative cohomology and polynomials with   roots on the unit circle
  Revisiting canonical integration of the classical solid near a uniform rotation, canonical action angle coordinates, hyperbolic and elliptic, are constructed in terms of various power series with coefficients which are polynomials in a variable $r^2$ depending on the inertia moments. Normal forms are derived via the analysis of a relative cohomology problem and shown to be obtainable without the use of ellitptic integrals (unlike the derivation of the action-angles). Results and conjectures also emerge about the properties of the above polynomials and the location of their roots. In particular a class of polynomials with all roots on the unit circle arises. 
Jean Pierre Francoise and Pedro Garrido and Giovanni Gallavotti
nlin.SI math-ph math.MP