Parallel Axis Theorem

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A way of finding the moment of inertia (treghetsmoment) of an object when its axis of rotation is shifted.

$$I=I_{cm}+m[r_{b/0}{]}^{\times }[r_{b/0}{]}^{\times }$$

^56ef21 Where $I_{cm}$ is the inertia at the center of mass, and $[r{]}^{\times }$ is the Skew-Symmetric Matrix constructed from the vector between the original axis and the new parallel axis.

Skew-Symmetric Cross Product Matrix Formula

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