Can someone explain this can't understand notation

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The discussion centers on the complexities of rigid body rotation notation, particularly in three-dimensional space. Key terms include the moment of inertia tensor (I), angular velocity vector (ω), and the vector from the origin to the center of mass (bG/O). Participants express confusion over specific symbols and their meanings, such as τO,j representing moments about the origin O. Clarification is sought on the relationship between torque and angular momentum, highlighting the nuances in rigid body dynamics. Understanding this notation is essential for grasping the underlying principles of rotational motion.
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from wikipedia for
"The most general equation for rotation of a rigid body in three dimensions about an arbitrary origin O with axes x, y, z is"...
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i thought that the sum of the torques on a system is just equal to d/dt(L)=d/dt(Iw)...apparently not - but i can't understand the notation like, what is b, G..etc
 
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This article explains it better:
http://www.statemaster.com/encyclopedia/Rigid-body-dynamics

I is the moment of inertia tensor
ω is the angular velocity (a vector)
ωq is the angular velocity about axis q.
M is the total mass.
bG/O is the vector from O to the body's center of mass.
RO is the position of O.
t is time.
τO,j is one of the N moments about O.
 

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