Kinetic Energy
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    Figure 1

From [1] of Kinetic Energy - System of Particles, [4-6] of Inertia Tensor, and Figure 1:




and, therefore




TT shown in [1] and [4] is the kinetic energy due to the linear motion (translation) of the body while TR is the kinetic energy due to the angular motion (rotation) of the body about its CM. TT is called as the translational term while TR is the rotational term. Both terms are basically in the form of (1/2)(inertia)(velocity)2.

Young-Hoo Kwon, 1998-