= J. Peraire
{c}
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>.<16.07 Dynamics/Lecture L26 - 3D Rigid Body Dynamics: The Inertia Tensor>[Printed pp. 1–3: angular momentum, moments and products of inertia]{ref}
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