InertiaCM:

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   Compute the inertia about the CM given the inertia about point 0,
   the position of the CM with respect to point 0, and the mass.

   Since version 8.
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   Form:
   ICM = InertiaCM( I0, m, rCM );
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   ------
   Inputs
   ------
   I0      (3,3)    Inertia about point 0 (kg-m^2)
   m       (1,1)    Mass (kg)
   rCM     (3,1)    Position of CM with respect to 0
   
   -------
   Outputs
   -------
   ICM     (3,3)    Inertia about CM

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Children:

Math: Linear/SkewSq