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
Mass–energy equivalence the velocity is small, the relativistic mass and the rest mass are almost exactly the same. Also Einstein (following Hendrik Lorentz and Max Abraham) used velocity- and direction-dependent mass concepts () in his 1905 electrodynamics paper and in another paper in 1906. However, in his first paper on (1905), he treated as what would now be called the "rest mass". Some claim that (in later years) he did not like the idea of "relativistic mass". When modern physicists say "mass", they are usually talking about rest mass, since if they meant "relativistic mass", they would just say "energy". Considerable debate