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並前往https://ocw.mit.edu/courses/aeronautics-and-astronautics/16-07-dynamics-fall-2009/lecture-notes/MIT16_07F09_Lec26.pdf

3D Rigid Body Dynamics: The Inertia Tensor - MIT ...

where [IG] is the tensor of inertia (written in matrix form) about the center of mass G and with respect to the xyz axes. The tensor of inertia gives us an ...

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