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    Figure 1

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

    [1]

since

    [2]

and, therefore

    [3]

where

    [4]

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

© Young-Hoo Kwon, 1998-