This paper deals with the stabilization of a rotating body-beam system  consisting of a disk with a beam attached to its center and perpendicular to the disk's plane. The beam is confined to another plane, which is perpendicular to the disk and rotates with the disk. Tee control is is the torque applied to the disk.  It has been proved by Xu and Baillieul that, for any constant angular velocity smaller than a critical one, this system can be stabilized by means of a feedback torque control law if there is a damping. We prove that this result also holds if there is no damping. Full paper.