As fitter2 says, you don't really tell us what the problem is. But, precession/gyroscope maths is generally labelled under "dynamics" in engineering teaching.
This is reckoned to be a pretty good book on the subject I believe (all the ones on my bookshelf - which are in an office about 600 miles away at the moment, are out of print, but if you can find a copy the one by Hibbeler, same title, was pretty good.)
From memory, it's a case of defining rotational inertia as a vector, then if you multiply that vector by the input rotation vector, you get a resultant output torque vector? Or something like that.
If you are trying to balance two gyroscopes, presumably it's a case of making the right hand side of the two equations the same, then playing around with the left hand terms to keep that true.
I always hated vector algebra! Give me scalars and angles every time!
G