# Example 20.1
OM[3] = -0.5 rad/s
omrel[2] = -13.9 rad/s
om = OM + omrel
vb[1] = -5 m/s
rab = [0.36] m
va = vb + cross(om, rab)


# Example 20.4
omx = 4 rad/s
omy = -2 rad/s
omz = 0 rad/s
alpx = -10 rad/s^2
alpy = 6 rad/s^2
alpz = 0 rad/s^2
ixx = 0.48 kg m^2
ixy = -0.18 kg m^2
ixz = 0 kg m^2
iyy = 0.12 kg m^2
iyz = 0 kg m^2
izz = 0.6 kg m^2

mx = ixx * alpx - ixy * alpy - ixz * alpz \
     - omz * (-ixz * omx + iyy * omy - iyz * omz) \
     + omy * (-ixz * omx - iyz * omy + izz * omz)

my = -ixy * alpx + iyy * alpy - iyz * alpz \
     + omz * (ixx * omx - ixy * omy - ixz * omz) \
     - omx * (-ixz * omx - iyz * omy + izz * omz)


mz = -ixz * alpx - iyz * alpy + izz * alpz \
     - omy * (ixx * omx - ixy * omy - ixz * omz) \
     - omx * (-ixy * omx + iyy * omy - iyz * omz)

c = [mx + 11.77 N m, my - 5.89 N m, mz]




# Homework Problems:

TBD