= S. Widnall
{c}
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.<16.07 Dynamics/Lecture L26 - 3D Rigid Body Dynamics: The Inertia Tensor>[Printed pp. 2–5: inertia components and principal axes]{ref}
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