5.6.

3
bx

bx

by

by

Given the mass properties

of an aircraft about the
bx, by, bz directions.
Transform them
to the bx, by, bz directions.

Given this:

[I']

I x'

I x'y'

I x'z'

I x'y'
I x'z'

I y'
I y'z'

I y'z'
I z'

Ix

I xy

I xz

I xy
I xz

Iy
I yz

I yz
Iz

Find this:

[I]

Solution

bx

bx by bz

bx

bx c

by

by

by -s c

bz

[I]=[

l B-B ] [ I ] [l B-B ]T

where:

[I]

Ix

I xy

I xz

I xy
I xz

Iy
I yz

I yz
Iz

and

[I']

I x'

I x'y'

I x'z'

I x'y'

I y'

I y'z'

I x'z'

I y'z'

I z'

[l ]
B B'

c
= s
0

s
c

0
0

and

[l ] = [l ]
T

B B'

B' B

c
= s
0

s
c

0
0

Multiplying the first two matrices: [

[lB B ' ][I'] = - s

0
c I x' + s I x'y'

= - s I x' + c I x'y'

I x'z'

s
c
0

l B-B ] [ I ]:

0 I x'

0 I x'y'
1 I x'z'

I x'y'
I y'
I y'z'

c I x'y' + s I y'
- s I x'y' + c I y'
I y'z'

I x'z'

I y'z'
I z'

c I x'z' + s I y'z'

- s I x'z' + c I y'z'

I z'

[lB B ' ][I'][lB B ' ]T

} {s c (I
) } {s I

c 2 I x' + s 2 I y' + 2s c I x'y'

2
2
= s c (I y' I x' ) + c s I x'y'

{c I x'z' + s I y'z' }

) } {c I
} { s I

y' I x' ) + c s I x' y'

2
+
c
x'
I y' 2s c I x' y'

{ s

x'z'

+ c I y'z' }

+ s I y'z' }

x'z' + c I y'z' }

{I z' }

x'z'