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Inertia Tensor Notes - 20200423 - 0001
Inertia Tensor Notes - 20200423 - 0001
Inertia Tensor Notes - 20200423 - 0001
L = Ic^:
"FU,q
d tt{
"Y t = Tn?xi
.
L : FflTX ( 6 ,i)
I
<fc)& L rn Lr.; - (+ G)iJ
Lrc = *[ri^)*- (x"L. 3br"9\
L3 = *[tbr- GGz+ 3os +z^.)!
Lz = fn[*'rr-(^*r+J(rly + Z'")r]
L =
^
Lt = *Lt .S)ouS -*Jbn- y.^{
Lz =*
t)Lr)2 - ra toJx-lz CI{
[Cr'-
m (git) rnxj -rnxt
L l- 0.1 l. = I'n X5 rntx"r f) -tn5t
xX, *(" x) - h\X t - nnJt nn (x\
= - rnx3
n
I \Ur. T3 \rrot 7r(go(s+lyoc(+
6tr",tJ r^ orn
\s. = -rnya Tv \ ,t d x+ [gtu5 + ltt{+
\trt = -rn7. b 6r6t^d 7 -ott
\'t-y =-r-ngb 3