ECP's four axis Control Moment Gyroscope is a dynamically rich system that provides superb demonstrations of multi-DOF rigid body control. Elementary experiments that graphically show the phenomenon of gyroscopic torque and its use in precision high authority control are readily performed. More advanced topics range from MIMO linear control to fully general nonlinear control with singularity avoidance. Thus the system yields demonstrations that are intriguing to the layman and post-doctorate alike! In addition, the plant may be used to emulate the control of satellite attitude. Stimulating experiments first show the open loop nutation modes and then demonstrate their effective control. The apparatus includes low friction slip rings at all gimbals for unlimited range of motion, and precision encoders for feedback of all position and velocity states. A host of safety features such as fail-safe brakes, inertial rate sensing switches, and real-time watch-dog monitoring provide for safe operation of the apparatus.