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h2. Description
{table:align=right|cellspacing=0|cellpadding=1|border=1|frame=box|width=40%}{tr}{td:align=center|bgcolor=#F2F2F2}*[Model Hierarchy]*{td}{tr}{tr}{td}{pagetree:root=Model Hierarchy|reverse=true}{td}{tr}{table}
{excerpt}This model is applicable to a _single_ [rigid body] that is both rotating and translating. It is a subclass of the [1-D Angular Momentum and TorqueAngular Impulse] model defined by the constraint that the system consists of only one rigid body.{excerpt}
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h2. Assumed Knowledge

h4. Prior Models
* [Point Particle Dynamics]
* [Fixed Axis Rotation of a Rigid Body]

h4. Vocabulary
* [force]
* [free body diagram]
* [torque (one-dimensional)]

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h2. Model Specification

h4. System Structure

Internal Constituents:  One [rigid body].
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Environment:   Forces must be specified not only by their magnitude and direction, but also by either their point of application or [moment arm] with respect to the center of mass of the rigid body.

h4. Descriptors

Object Variables:  Mass (_m_), [moment of inertia] about the center of mass (_I_~cm~).  The moment of inertia may not be explicitly given, but there must be sufficient information to calculate it (often the mass plus some parameters of the rigid body's shape such as radius, length, etc.).

State Variables:  None.

Interaction Variables:  Acceleration of the center of mass (_a_~cm~), angular acceleration about the center of mass (α~cm~), forces (_F_) and torques about the center of mass (τ~cm~). 

h4. Laws of Interaction

{latex}\begin{large}\[ \sum F = ma_{cm}\]
\[ \sum \tau_{cm} = I_{cm}\alpha_{cm}\]\end{large}{latex}

h4. Laws of Change

None.

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h2. Relevant Examples

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