Fixed-Axis Rotation:

Let us consider a noncentroidal rotation. It is a motion, in which, the rigid body is constrained to rotate about fixed axis, not passing through its mass center. For a rigid body rotating about a fixed axis O, all points in the body describe circles about the rotation axis, and all lines of the body in the plane of motion have the same angular velocity and angular acceleration a. The normal acceleration is .

Equations of dynamics are: