Moment of Inertia Matrix
The scalar moments of inertia appear as elements in a matrix when a system of particles is assembled into a rigid body that moves in three dimensional space. This inertia matrix appears in the calculation of the angular momentum, kinetic energy and resultant torque of the rigid system of particles. Let the system of particles Pi, i=1,...,n be located at the coordinates ri and velocities vi. Select a reference point R and compute the relative position and velocity vectors,
where ω is the angular velocity of the system.
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