Rigid body dynamics r and velocities v. Select a reference point R and compute the relative position and velocity vectors, The total linear and angular momentum vectors relative to the reference point R are and If R is chosen as the center of mass these equations simplify to To specialize these formulas to a rigid body, assume the particles are rigidly connected to each other so P, i=1...,n are located by the coordinates r and velocities v. Select a reference point R and compute the relative position and velocity vectors, where ω is the angular velocity of the system. The linear momentum and
Locating the center of mass Locating the center of mass There are several methods for locating the center of mass of a body. This method is useful when one wishes to find the centroid of a complex planar shape with unknown dimensions. It relies on finding the center of mass of a thin body of homogeneous density having the same shape as the complex planar shape. This is a method of determining the center of mass of an L-shaped object. This method is useful when one wishes to find the location of the centroid or center of mass of an object that is easily divided