 Solution

Take the origin at the centre of mass, so ${\int }_B\rho \mathbf{r}{d}^{3}r=0$, and write $r_i=\mathbf{r}\cdot {\mathbf{e}}_i$ in the specified orthonormal basis. The inertia tensor isHere ${\delta }_{ij}$ is the Kronecker delta. For a rigid body with angular velocity $\mathbf{\omega }$, this tensor gives $\mathbf{L}=\mathbf{I}\mathbf{\omega }$ and rotational kinetic energy $T=\mathbf{\omega }\cdot \mathbf{I}\mathbf{\omega }/2$.

The inertia tensor is a real symmetric matrix, so it admits an orthonormal basis of eigenvectors. The lines in these eigenvector directions through the centre of mass are its principal axes; the corresponding eigenvalues $I_1,I_2,I_3$ are its principal moments of inertia:If an eigenvalue repeats, the corresponding principal axes need not be unique.