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 Description of rigid body motion.
 Moment of inertia tensor.
 Euler angles, Euler equations of motion

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 The total angular momentum about a point O is equal to the angular
momentum of motion concentrated at the center of mass, plus the angular
momentum of motion about the center of mass

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 The moment of inertia about a given axis is equal to the moment of
inertial about a parallel axis through the center of mass plus the
moment of inertia of the body, as if concentrated at the center of mass,
with respect to the original axis

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 The inertia tensor I and all
the quantities associated with it—principal axes, principal moments,
inertia ellipsoid, …, are only relative to some particular point fixed
in space.
 If the point is shifted elsewhere in the body, all the quantities will
in general be changed.

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