ABSTRACT
Chapter 4 discussed mass moment of inertia for plane motion. We learned that three pieces of information uniquely quantify the properties of a rigid body: the mass, the center of mass, and the mass moment of inertia. This chapter extends the concept of mass moment of inertia to three dimensions. The inertia properties are described in terms of the inertia matrix. The translation and rotation of coordinates are considered and the parallel axis theorem is extended to three dimensions. Principal moments of inertia are discussed.
