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For bodies constrained to rotate in a plane, it is sufficient to consider their moment of inertia about an axis perpendicular to the plane. For bodies free to rotate in three dimensions, their moments can be described by a symmetric 3 × 3 matrix; each body has a set of mutually perpendicular principal axes for which this matrix is diagonal and torques around the axes act independently of each other.
Conservation of linear momentum dictates that when a mass strikes an equal mass at rest and sticks to it, the combination must move at half the velocity, because the produce of mass and velocity must remain constant.
The vis insita , or innate force of matter, is a power of resisting by which every body, as much as in it lies, endeavours to preserve its present state, whether it be of rest or of moving uniformly forward in a straight line.