This is homework assignment 12, due on Friday, 20thNovember.

Do problems 5.9 and the following problem.

Consider a point P about which a rigid body rotates with an angular velocity omega . Find the kinetic energy of the body in terms of omega, the mass of the body M, the velocity vP of point P, the velocity vCP of the center of mass with respect to point P, the intertia tensor of the body with respect to an axis passing through P and parallel to omega.

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