An engineering educator whose joint lecture on rigid body dynamics explains how a body’s shape enters its rotational equations through the inertia tensor. Integrating products of position coordinates over the mass distribution supplies the tensor components. Choosing principal axis directions then removes the cross terms, making the relationship between angular velocity and angular momentum easier to interpret.[ref]
Lecture L26 - 3D Rigid Body Dynamics: The Inertia Tensor. Printed pp. 2–5: inertia components and principal axes
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