Consider a rigid body experiencing rotational motion associated with an angular velocity ?. The inertia tensor (relative to body-fixed axes though the center of mass G) is

and ?? = 10i + 20j + 30k (rad/s).. Calculate

a. The angular momentum HG

b. The rotational kinetic energy (about G)

20 -10 0 -10 30 0 (kg-m) 0 40 0