 Solution

Assume the particle masses $m_i$ are fixed and their total mass $M={\sum }_i{m}_i$ is positive. The centre of mass and the relative position vectors areTheir weighted sum is zero, so differentiation gives ${\sum }_i{m}_i{\dot{\mathbf{y}}}_i=0$. Expanding the kinetic energy with ${\dot{\mathbf{x}}}_i=\dot{\mathbf{R}}+{\dot{\mathbf{y}}}_i$ makes the mixed term vanish:This kinetic-energy decomposition about the centre of mass separates translation from internal motion without assuming any particular force law.

For the rigid body, its relative velocity is ${\dot{\mathbf{y}}}_i=\omega \mathbf{n}\times {\mathbf{y}}_i$. The cross product identity for a unit vector gives $|\mathbf{n}\times {\mathbf{y}}_i{|}^2=|{\mathbf{y}}_i{|}^2-(\mathbf{n}\cdot {\mathbf{y}}_i{)}^2$, the squared perpendicular distance to the rotation axis. Hence the moment of inertia of the particle is $I_i=m_i[|{\mathbf{y}}_i{|}^2-(\mathbf{n}\cdot {\mathbf{y}}_i{)}^2]$, and summing the rotational kinetic energy yields