
From [5] and [6] of Angular Momentum  Rigid Body, the whole body angular momentum about its CM is the sum of those of the segments about the whole body CM: where H_{Ri} = the remote angular momentum term of segment i, and H_{Li} = the local angular momentum term. From Figure 1 and [5] and [6] of Angular Momentum  Rigid Body:
where r_{i} = the relative position of the segment CM to the whole body CM, v_{i} = the relative velocity of the segment CM to the whole body CM, I_{CMi} = the inertia tensor of the segment, and w_{i} = the angular velocity of the segment. From [1] and [2]:
where and T_{i/G} = the transformation matrix from the global frame to frame i, and I_{CM} = the inertia tensor of the segment about its CM.

© YoungHoo Kwon, 1998 