D5. Inertia tensor
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The Vector Theorems relate the external interaction torsor on a system ([math]\displaystyle{ \sum\overline{\mathbf{F}}_\mathrm{ext} }[/math], [math]\displaystyle{ \sum\overline{\mathbf{M}}_\mathrm{ext}(\Qs) }[/math]) to the change in time of vectors that depend on how the mass is distributed in the system (mass geometry) and on its motion. In the LMT, this vector is the linear momentum of the system, while in the AMT it its angular momentum (or kinetic momentum). This unit provides the tools necessary to describe the mass geometry of a rigid body and to calculate these two vectors.
D5.1 Centre of masses
D5.2 Inertia tensor
D5.3 Some relevant properties of the inertia tensor
D5.4 Steiner’s Theorem
D5.5 Change of vector basis
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