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M Fg r

M Fg r • M • r • Fg • J Θ • m • ρ • Ra • Ri • L ∫ J = ρ r 2 dV Jx = (V ) 3 · m 10 · Ra5 − Ri 5 Ra 3 − Ri 3

Jy = Jz = m = 1 3 πρh(Ra2 + Ra · Ri + Ri 2 ) 3 · m 10 · Ra4 + Ra3 · Ri + Ra2 · Ri2 + Ra · Ri3 + Ri Ra2 + Ra · Ri + Ri2 • S • r • m J = 2 5 mr2 J = 2 3 mr2 ⎡ ⎤ J = ⎣ Jxx Jxy Jxz Jyx Jyy Jyz Jzx Jzy Jzz ⎦ Jyx = Jxy Jzx = Jxz Jzy = Jyz

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