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The rate gyroscopes are not spring-restrained. Instead, "floatation gyroscopes" in which the precession is opposed by the viscous drag of a liquid are employed. The opposing torque is therefore proportional to the precession rate, instead of the precession displacement, as in a spring-restrained gyroscope.  1, fiche 1, Anglais, - spring%2Drestrained%20gyroscope

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IEEE Test Procedure for Single-Degree-of-Freedom Spring-Restrained Gyros.  2, fiche 1, Anglais, - spring%2Drestrained%20gyroscope

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