It has been asserted in the literature that Mathisson's helical motions are
unphysical, with the argument that their radius can be arbitrarily large. We
revisit Mathisson's helical motions of a free spinning particle, and observe
that such statement is unfounded. Their radius is finite and confined to the
disk of centroids. We argue that the helical motions are perfectly valid and
physically equivalent descriptions of the motion of a spinning body, the
difference between them being the choice of the representative point of the
particle, thus a gauge choice. We discuss the kinematical explanation of these
motions, and we dynamically interpret them through the concept of hidden
momentum. We also show that, contrary to previous claims, the frequency of the
helical motions coincides, even in the relativistic limit, with the
zitterbewegung frequency of the Dirac equation for the electron
