This is a unique problem. The text book sets up the linear problem. However in this example, Runge-Kutta and a Reconstrution formula are use to numerically solve the equations of motion from initial conditions provided by the sliders below.
The Start button initiates the rotational motion.
The Reset button returns the tennis racket to the initial state.
Users may alter the time duration and the time step.
Indeed, an initial upward velocity will enable the tennis racket to also translate, however, that has been disabled in this animation: the tennis racket remains in place.
The problem is more fully described in THIS PAPER REFERENCE.
After consulting that paper, the user will gain insight into the Polhode.