configuration data  example 10.11   p.255

nod = 
        Join[Table[{ Cos[θ °],  Sin[θ °], 
              5}, {θ, 0, 330, 30. }], {{0, 0, 5}}, {{0, 0, 
              0}}];
nod[[12]]
nd = Length[nod]

ele = 
      Join[Table[{i, i + 1, 13}, {i, 11}], {{12, 1, 13}}, 
        Table[{i, i + 1, 14}, {i, 11}], {{12, 1, 
            14}}]
ele[[12]]
ne = Length[ele]

dat = 
        Table[nod[[ele[[i, j]]]], {i, ne}, {j, 3}];

fm1 = AspectRatio ->  1;
fm2 = 
        PlotRange -> {{-2, 2}, {-2, 2}, {0, 
              6}};
Table[
        Graphics3D[Polygon[ dat[[i]]]], {i, 2, 
          ne}];
Show[%, fm1, fm2]

coordinate transformation

rx = {{1, 0, 0}, {0, 1, ϕ}, {0, -ϕ, 
            1}};
ry = {{1, 0, -θ}, {0, 1, 0}, {θ, 0, 
            1}};
rz = {{Cos[ψ], Sin[ψ], 0}, {-Sin[ψ], Cos[ψ], 
            0}, {0, 0, 1}};
r3 = rz . ry . rx; MatrixForm[r3]

rrot = 
      r3 /. {θ ->  θx, ϕ ->  -θy}; 
    MatrixForm[rrot]
rr[Ωt_, θa_, ωt_] := rrot /. { θx ->  θa Cos[ωt], θy ->  θa Sin[ωt], ψ ->  Ωt} /. θ(a^2) ->  0;
MatrixForm[
      Simplify[rr[Ωt, θa, ωt]]]

spin and whirl motion

dspin[Ωt_, θa_, ωt_] := 
      Table[Graphics3D[
          Polygon[ 
            dat[[i]] . rr[Ωt, θa, ωt]]], {i, 
          2, ne}]

Do[
      Show[dspin[2 t °, 10 °,  -t °], fm1, 
        fm2], {t, 0, 350, 10}]