Rotación en el eje z usamos la matriz de rotación:

0
cos θ −sen θ 0 cos θ sen θ 0

❑
[ 0 0 1
0 T

] [
R B= sen θ cos θ 0 y ❑RB = −sen θ cos θ 0
0 0 1 ]
md 2 md 2 cos θ md2 sen θ ml2 sen θ

[ ][ ]
0 0 + 0
8 8 16 12
cos θ sen θ 0

[ ] md 2 ml2 2 2 2
md sen θ md cos θ ml cos θ
−sen θ cos θ 0 ∗ 0 + 0 =− + 0
16 12 8 16 12
0 0 1
md2 ml 2 md 2 ml2
0 0 + 0 0 +
16 12 16 12

md2 cos θ md2 sen θ ml2 sen θ

[ ]
+ 0
8 16 12
cos θ −sen θ 0

[ ]
2 2 2
md sen θ md cos θ ml cos θ
sen θ cos θ 0 ∗ − + 0
8 16 12
0 0 1
md 2 ml 2
0 0 +
16 12

md2 cos2 θ md2 sen2 θ md 2 sen θ cos θ md 2 sen θ cos θ

[ ]
+ − 0
8 8 16 16
2 2
md sen θ md cos 2 θ
2 2 2
0^ md sen θ cos θ md sen θ cos θ
❑I = − + 0
16 16 8 8
md2 ml 2
0 0 +
16 12

md 2

[ ]
0 0
8
0 ^I = md 2
❑ 0 0
8
md 2 ml2
0 0 +
16 12