The paper discusses a nonlinear model that describes the interaction of a rigid body with a medium and takes into account (based on experimental data on the motion of circular cylinders in water) the dependence of the arm of the force on the normalized angular velocity of the body and the dependence of the moment of the force on the angle of attack. An analysis of plane and spatial models (in the presence or absence of an additional follower force) leads to sufficient stability conditions for translational motion, as one of the key types of motions. Either stable or unstable self-oscillation can be observed under certain conditions Keywords: rigid body in a resisting medium, nonlinear model, sufficient stability conditions, stable and unstable self-oscillation 1. Introduction. Experimental data on the motion of homogeneous circular cylinders in water [7,12] show that the dependence of the moment of force of the medium on the angular velocity of the body should also be taken into account. Then the equations of motion will include additional terms describing dissipation in the system.The nonlinear analysis of the motion of a body with finite angles of attack concentrates on establishing the conditions under which there exist finite-amplitude oscillations near the unperturbed motion, which confirms the necessity of a comprehensive nonlinear analysis. Studies of the plane and spatial models describing the interaction of a rigid body and a medium (in the presence or absence of an additional follower force) have established sufficient stability conditions for translational motion, which is a key type of motion. It was shown that there are conditions under which stable or unstable self-oscillatory motion is possible.Since the nonlinear analysis is complex, the initial stage of such a study disregards the dependence of the moment of force of the medium on the angular velocity of the body and considers the dependence on the angle of attack alone [9,11,16].Of practical importance is the stability analysis of the so-called unperturbed (translational) motion such that the velocities of points of the body are perpendicular to the plate (cavitator).All the results obtained under this elementary assumption allows concluding that there no conditions under which the systems would have solutions describing angular finite-amplitude oscillations of the body.The present paper is the next stage in the study of a moving rigid body interacting with the medium only by the flat front area (plate). The force exerted by the medium is found using the properties of a quasistationary jet flow [9]. The motion of the medium is not studied, and the characteristic time of motion of the rigid body relative to the center of mass is commensurable with the characteristic time of motion of this center.2. Plane-Parallel Motion of a Symmetric Rigid Body in a Resisting Medium: Problem Statement. Let a homogeneous rigid body of mass m undergo plane-parallel motion in a homogeneous flow of a medium. A portion of the outside