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From [5] of Angular Kinetics-Particle and Figure 1:

    Figure 1

    [1]

where

    [2]

The total angular momentum of a system of particles has two terms: the angular momentum of the CM (the first term of [1]) and the sum of the relative angular momentums of the particles to the CM (the second term of [1]). Unfortunately, the angular momentum of the system does not reduce to that of the CM alone. This equation will be revisited in the Rigid Body Dynamics section.

© Young-Hoo Kwon, 1998-