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
Velocity gradient analysis, the dimensions of velocity gradient can be determined. The dimensions of velocity are formula_4 , and the dimensions of distance are formula_5. Since the velocity gradient can be expressed as formula_6. Therefore, the velocity gradient has the same dimensions as this ratio, i.e. formula_7. In 3 dimensions, the gradient, formula_8 , of the velocity formula_9 is a second-order tensor which can be expressed as the matrix L: formula_11 can be decomposed into the sum of a symmetric matrix formula_12 and a skew-symmetric matrix formula_13 as follows formula_12 is called the strain rate tensor and describes the rate of stretching