An engineering educator whose joint dynamics lectures derive the inertia tensor from a distribution of mass. For a general rigid body, angular momentum need not point along angular velocity. Expressing their relationship as a linear transformation makes the geometry of three-dimensional rotation calculable and reveals the simplifying role of a principal axis.[ref]
Lecture L26 - 3D Rigid Body Dynamics: The Inertia Tensor. Printed pp. 1–3: angular momentum, moments and products of inertia
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