There seems to be different types of angular velocity to me... 1) A rigid body could be moving in a nonlinear path (ex. a pendulum) 2) A rigid body could be rotating about an axis on itself (ex. the earth rotating about an axis) 3) Both #1 and #2 combined (ex. the earth moving around the sun as an object AND rotating about an axis) Am I thinking about this correctly? The well known angular velocity equation for a rigid body is va = vb + w × rab where w is the angular velocity of the rotation of the body about an axis that is on the body (like #2 above), correct? Is there angular velocity associated with a body moving in a nonlinear path, such as a sphere on a pendulum that is NOT rotating about an axis on itself (like the earth's rotation axis in on the earth)? I just want to qualitatively understand angular velocity/momentum better.