Mathematical model of gyroscope is derived and presented in this report based on the theory of Euler’s equation of motion. Furthermore, the details of the derivation process for the dynamic equation for gyroscope is also presented and discussed including the explanation on the dynamic equation for gyroscope. From the dynamic model obtained, the model is then simulated in MATLAB Simulink and the response of the system to step torque command is discussed and presented. In addition, the stability of the platform in each axis has been evaluated based on the simulation result obtained.