A z Acm ax + Rigid body A is a thin rectangular plate with sides of length h and width w, and has mass m. Unit vectors , y, az are fixed in A. Rigid body B is a thin circular disk of radius r and mass mB. Unit vectors bx, by, b are fixed in B and oriented so that is parallel to the line connecting Acm and Bcm, which also intersects the corner of the rectangular plate as shown. Together, A and B form a system, S. A's and B's center of mass are shown with the CM targets on the diagram. B is welded to the corner of A in the position shown. Suppose the inertia dyadic for the system of A and B (combined) about the system center of mass, SCM is given by: S/SCM [18.77 5.99 0 h W and 5.99 = 4.79 0 0 0 23.56axyz B B cm bx NA = NWB = wxx + wyy + wzz rad/s N SCM = ln+ly+1a, m/s a) Formulate an expression for the angular momentum of the system about SCM in N, NS/Sc . b) Formulate an expression for the kinetic energy of the system in N, NKS.