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
Product of group subsets "ST", then "ST" coincides with the semidirect product of "S" and "T". Finally, if both "S" and "T" are normal in "ST", then "ST" coincides with the direct product of "S" and "T". If "S" and "T" are subgroups whose intersection is the trivial subgroup (identity element) and additionally "ST" = "G", then "S" is called a complement of "T" and vice versa. By a (locally unambiguous) abuse of terminology, two subgroups that intersect only on the (otherwise obligatory) identity are sometimes called disjoint. A question that arises in the case of a non-trivial intersection between a normal subgroup "N"