If the set of particles in the previous chapter form a rigid body, rotating with angular velocity ω about its centre of mass, then the results concerning the moment of inertia from the penultimate chapter can be extended.
where (rn1, rn2, rn3) is the position of the nth mass.
In the limit of a continuous body this becomes
where ρ is the density.
Either way we get, splitting L into orbital and internal angular momentum,
and, splitting T into rotational and translational kinetic energy,
It is always possible to make I a diagonal matrix, by a suitable choice of
Mass Moments Of Inertia Of Common Geometric Shapes
The moments of inertia of simple shapes of uniform density are well known.