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This all makes sense, but what about those
off-diagonal terms in
? Consider the vector angular momentum (§B.4.14):
We see that the off-diagonal terms
correspond to a
coupling of rotation about
with rotation about
.
That is, there is a component of moment-of-inertia
that is
contributed (or subtracted, as we saw above for
) when both
and
are nonzero. These cross-terms can be eliminated by
diagonalizing the matrix [452],B.25as discussed further in the next section.
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