Abstract: The “return-to-origin" characteristic of a boomerang arises from the coupling between unsteady aerodynamic forces and rigid-body attitude dynamics at low Reynolds numbers. Based on the quasi-steady blade element theory, a simplified dynamic model of the boomerang is developed by integrating the Euler-angle attitude description with the Newton–Euler equations of motion. Using the z–x–z Euler-angle rotation convention, the coordinate transformation relationships are established, and key aerodynamic formulas, including those for lift and rolling moment, are systematically derived; the effect of periodic airflow reversal induced by rotation on the aerodynamic characteristics is then analyzed. Flight trajectories under different initial velocities and rotational speeds are obtained through MATLAB simulations, and experimental verification is conducted using an adjustable launcher and dual high-speed camera measurements. This study provides theoretical support for the structural optimization and motion prediction of boomerangs, contributes to the understanding of the coupling mechanism between aerodynamic forces and attitude motion of rotating rigid bodies at low Reynolds numbers, and offers a reference for the design and control of related aerial vehicles.