I have this book, which provides the following torque equation for a rigid body:(adsbygoogle = window.adsbygoogle || []).push({});

[tex]\sum\tau_{cg} = \frac{dL_{cg}}{dt} = I\frac{d\omega}{dt} + (\omega \times (I\omega))[/tex]

Where [tex]L_{cg}[/tex] is the angular momentum around the CG. The moments, inertia tensor, and angular velocity are all expressed in local (body) coordinates.

This is all fine and dandy, but what is not provided is a derivation. I'm wondering if anyone knows its derivation, because I don't fully understand its meaning. :uhh:

Any help would be greatly appreciated.

Thanks!

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# How Is This Torque Equation Derived?

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