29. Managing the infinitesimal rotations of a rigid body, Moment of Inertia Matrix, Motion in the body-fixed frame (BF), Angular velocity in the BF, Inertia Tensor, Kinetic Energy for a rigid body (both translational and rotational components) & adoption of summation convention, properties of the inertia tensor (symmetry, diagonality, off-diagonal elements, additionality, reduction to diagonal form, lamina), and nomenclature for tops based on principle moments of inertia (Asymetrical, Symmetrical and Spherical)
Note: These notes have been unpolished (messy handwriting)