
From [1] of Kinetic Energy  System of Particles, [46] of Inertia Tensor, and Figure 1:
since
and, therefore
where
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}. 
© YoungHoo Kwon, 1998 