Pre-class exercise (not graded) Problem 1: Although d ˇ I dt 6 = 0 in general, show that ω · d ˇ I dt · ω = 0 . Hints: the inertia tensor takes the form ˇ I = 3 X i =1 I i e i e i . The principal moments of inertia I 1 ,I 2 ,I 3 remain constant in time, since the rigid body has a ﬁxed shape and structure. But the principal axes
This is the end of the preview. Sign up
access the rest of the document.