Center of mass rigid body, the gravity forces will not cause the body to rotate, which means the weight of the body can be considered to be concentrated at the center of mass. The linear and angular momentum of a collection of particles can be simplified by measuring the position and velocity of the particles relative to the center of mass. Let the system of particles "P", "i"=1...,"n" of masses "m" be located at the coordinates r with 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
Linear motion According to Newton's first law of motion, objects that do not experience any net force will continue to move in a straight line with a constant velocity until they are subjected to a net force. Under everyday circumstances, external forces such as gravity and friction can cause an object to change the direction of its motion, so that its motion cannot be described as linear. One may compare linear motion to general motion. In general motion, a particle's position and velocity are described by vectors, which have a magnitude and direction. In linear motion, the directions of all the vectors