def inertia_of_point_mass(mass, pos_vec, frame):
 return (mass * (((((frame.x | frame.x) + (frame.y | frame.y)) + (frame.z | frame.z)) * (pos_vec & pos_vec)) - (pos_vec | pos_vec)))

def inertia_of_point_mass ( mass , pos_vec , frame ) : return ( mass * ( ( ( ( ( frame . x | frame . x ) + ( frame . y | frame . y ) ) + ( frame . z | frame . z ) ) * ( pos_vec & pos_vec ) ) - ( pos_vec | pos_vec ) ) )
inertia dyadic of a point mass relative to point o .