(self, point, frame)
return ((self.central_inertia & self.frame.ang_vel_in(frame)) +
                (point.vel(frame) ^ -self.masscenter.pos_from(point)) *
                self.mass)
Angular momentum of the rigid body.

        The angular momentum H, about some point O, of a rigid body B, in a
        frame N is given by

        H = I* . omega + r* x (M * v)

        where I* is the central inertia dyadic of B, omega is the angular
        velocity of body B in the frame, N, r* is the position vector from
        point O to the mass center of B, and v is the velocity of point O in
        the frame, N.

        Parameters
        ==========

        point : Point
            The point about which angular momentum is desired.

        frame : ReferenceFrame
            The frame in which angular momentum is desired.

        Examples
        ========

        >>> from sympy.physics.mechanics import Point, ReferenceFrame, outer
        >>> from sympy.physics.mechanics import RigidBody, dynamicsymbols
        >>> M, v, r, omega = dynamicsymbols('M v r omega')
        >>> N = ReferenceFrame('N')
        >>> b = ReferenceFrame('b')
        >>> b.set_ang_vel(N, omega * b.x)
        >>> P = Point('P')
        >>> P.set_vel(N, 1 * N.x)
        >>> I = outer (b.x, b.x)
        >>> Inertia_tuple = (I, P)
        >>> B = RigidBody('B', P, b, M, Inertia_tuple)
        >>> B.angular_momentum(P, N)
        omega*b.x
Angular momentum of the rigid body.
Angular momentum of the rigid body .
def angular_momentum(self, point, frame):
        """ Angular momentum of the rigid body.

        The angular momentum H, about some point O, of a rigid body B, in a
        frame N is given by

        H = I* . omega + r* x (M * v)

        where I* is the central inertia dyadic of B, omega is the angular
        velocity of body B in the frame, N, r* is the position vector from
        point O to the mass center of B, and v is the velocity of point O in
        the frame, N.

        Parameters
        ==========

        point : Point
            The point about which angular momentum is desired.

        frame : ReferenceFrame
            The frame in which angular momentum is desired.

        Examples
        ========

        >>> from sympy.physics.mechanics import Point, ReferenceFrame, outer
        >>> from sympy.physics.mechanics import RigidBody, dynamicsymbols
        >>> M, v, r, omega = dynamicsymbols('M v r omega')
        >>> N = ReferenceFrame('N')
        >>> b = ReferenceFrame('b')
        >>> b.set_ang_vel(N, omega * b.x)
        >>> P = Point('P')
        >>> P.set_vel(N, 1 * N.x)
        >>> I = outer (b.x, b.x)
        >>> Inertia_tuple = (I, P)
        >>> B = RigidBody('B', P, b, M, Inertia_tuple)
        >>> B.angular_momentum(P, N)
        omega*b.x

        """

        return ((self.central_inertia & self.frame.ang_vel_in(frame)) +
                (point.vel(frame) ^ -self.masscenter.pos_from(point)) *
                self.mass)
def angular_momentum ( self , point , frame ) : return ( ( self . central_inertia & self . frame . ang_vel_in ( frame ) ) + ( point . vel ( frame ) ^ - self . masscenter . pos_from ( point ) ) * self . mass )