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3.19 Derive eq.(3.147). Moreover, paraphrasing Steiner's Theorem, eq.(3.133b ), notice that Mo can be expressed as
The above expression can be termed the 6 x 6 form of Steiner's Theorem or, equivalently, of the Parallel-Axis Theorem. Now, in trying to mimic Steiner's Theorem, one would like to express P in the same form as the second term of eq.(3.133b), as the product mRRT, with R defined as a suitable 6 x 6 matrix. Can this matrix be found? If yes, give an expression for R; if not, explain why.

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