TranslateAxes:

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   Recompute the moment of inertia "i" by translating axes.
   There are two cases:
     - translating the origin by "r", body has mass "m"
     - adding a point mass "m" at location "r" from the origin
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   Form:
   i = TranslateAxes( i, r, m, sgn )
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   ------
   Inputs
   ------
   i          (3,3)      Original Moment of Inertia
   r          (3,1)      Translation vector
   m           (1)       Mass of body
   sgn         (1)       Sign of inertia change.
                          +1 Positive if point mass added
                             or if origin moved away from CG
                          -1 Negative if origin moved towards CG

   -------
   Outputs
   -------
   i          (3,3)      New Moment of Inertia

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Children:

Common: Transform/IConv