Euler-Newton方程

考察点放在旋转轴上，则
$$v = \omega \times r.$$
$$a = \dot{\omega} \times r + \omega \times v = \dot{\omega} \times r + \omega \times (\omega \times r) = \dot{\omega} \times r + (\omega \cdot r) \omega + (\omega \cdot \omega) r.$$
$$L = \int r \times v dm.$$
$$\dot{L} = \int v \times v dm + \int r \times a dm = \int r \times a dm.$$
带入得
\begin{equation}
\nonumber
\begin{split}
\dot{L} = & \int r \times (\dot{\omega} \times r) dm - \int  \omega \times r (\omega \cdot r) dm \\
= & \int \left[(r \cdot r) \dot{\omega} - r (r \cdot \dot{\omega}) \right] dm - \omega \times \int   r (\omega \cdot r) dm \\
= & \int (r^T r I - r r^T) dm\, \dot{\omega} + \omega \times \left[ \int (r^T r I - r r^T) dm\, \omega\right].
\end{split}
\end{equation}
令
$$I_o = \int (r^T r I - r r^T) dm.$$
则
$$\dot{L} = I_o \dot{\omega} + \omega \times (I_o \omega).$$