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which is known as the parallel axis theorem.<ref>{{Citation |first=Burton |last=Paul |year=1979 |title=Kinematics and Dynamics of Planar Machinery |publisher=[[Prentice Hall]] |isbn=978-0-13-516062-6 }}</ref>
==Moment of
The inertia matrix of a rigid system of particles depends on the choice of the reference point.<ref name="Kane">T. R. Kane and D. A. Levinson, [https://www.amazon.com/Dynamics-Theory-Applications-Mechanical-Engineering/dp/0070378460 Dynamics, Theory and Applications], McGraw-Hill, NY, 2005.</ref> There is a useful relationship between the inertia matrix relative to the center of mass '''R''' and the inertia matrix relative to another point '''S'''. This relationship is called the parallel axis theorem.
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