Off-Diagonal Terms in Moment of Inertia Tensor
This all makes sense, but what about those off-diagonal terms in
? Consider the vector angular momentum (§B.4.14):
![$\displaystyle \underline{L}\eqsp \mathbf{I}\,\underline{\omega}\eqsp
m\left[\b...
...begin{array}{c} \omega_1 \\ [2pt] \omega_2 \\ [2pt] \omega_3\end{array}\right]
$](http://www.dsprelated.com/josimages_new/pasp/img2907.png)




![$ \underline{\omega}=[1,1,0]^T$](http://www.dsprelated.com/josimages_new/pasp/img2910.png)


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Example with Coupled Rotations