Аннотация:The modification of the Picard approach is suggested that is targeted to the construction of a bifurcation diagram of 2π -periodic motions of mechanical system with a cylindrical phase space. Each iterative step is based on principles of averaging and energy balance similar to the Poincare–Pontryagin approach. If the iterative procedure converges, it provides the periodic trajectory of the system depending on the bifurcation parameter of the model. The method is applied to describe self-sustained rotations in the model of an aerodynamic pendulum.