Prove that the angular momentum
H_G ^ of a rigid body about its mass
center is given by :
H_x =I_x ^ ω_x −I_(xy) ^ ω_y −I_(xz) ^ ω_z
H_y =−I_(yx) ^ ω_x +I_y ^ ω_y −I_(yz) ^ ω_z
H_z =−I_(zx) ^ ω_x −I_(zy) ^ ω_y +I_z ^ ω_z
where I_x ^ =∫(y^2 +z^2 )dm
I_(xy) ^ =∫xy dm ...and so on..