u1 = {Cos[θ], Sin[θ], 0}

u2 = {- Sin[θ], Cos[θ], 0}
u3 = {0, 0, 1}
Q = Transpose[{u1, u2, u3}]

{Cos[θ], Sin[θ], 0}

{- Sin[θ], Cos[θ], 0}

{0, 0, 1}

{{Cos[θ], - Sin[θ], 0}, {Sin[θ], Cos[θ], 0}, {0, 0, 1}}

v1 = {0.707, 0.707, 0.5}

Q.v1 /. θ → 30 °
{0.707, 0.707, 0.5}

{0.25878, 0.96578, 0.5}

2 Dinámica de Maquinaria - transformación de Tensor de Inercia.nb

Flecha1 = Graphics3D[{Red, AbsoluteThickness[5], Arrow[{{0, 0, 0}, Evaluate[Q.v1]}]}]

Sistema = Graphics3D[{Magenta, AbsoluteThickness[5], {Arrow[{{0, 0, 0}, {0, 0, 1}}],
Arrow[{{0, 0, 0}, {0, 1, 0}}], Arrow[{{0, 0, 0}, {1, 0, 0}}]}}]

Table[Show[Flecha1], {θ, 0, 360 °, 1 °}];

 Dinámica de Maquinaria - transformación de Tensor de Inercia.nb 3

ListAnimate[
Table[Show[Flecha1, Sistema, PlotRange → {{- 1, 1}, {- 1, 1}, {- 1, 1}}], {θ, 0, 360 °, 1 °}]]

1 1 1
IijGuvw =  m r2 , 0, 0, 0, m r2 , 0, 0, 0, m r2 
2 4 4
m r2 m r2 m r2
 , 0, 0, 0, , 0, 0, 0, 
2 4 4

Qt = Transpose[Q]
IijGxyz = Q.IijGuvw.Qt /. θ → 45 °
(*IijGxyz=Q.IijGuvw.Qt/.θ→-45°*)
{{Cos[θ], Sin[θ], 0}, {- Sin[θ], Cos[θ], 0}, {0, 0, 1}}

3 m r2 m r2 m r2 3 m r2 m r2
 , , 0,  , , 0, 0, 0, 
8 8 8 8 4
4 Dinámica de Maquinaria - transformación de Tensor de Inercia.nb

RG0 = {xG0, yG0, zG0}

Iij0XYZ1 = IijGxyz + m RG0[[2]]2 + RG0[[3]]2 , - RG0[[1]] RG0[[2]], - RG0[[1]] RG0[[3]],
- RG0[[2]] RG0[[1]], RG0[[1]]2 + RG0[[3]]2 , - RG0[[2]] RG0[[3]],
- RG0[[3]] RG0[[1]], - RG0[[3]] RG0[[2]], RG0[[1]]2 + RG0[[2]]2 

{xG0, yG0, zG0}

3 m r2 m r2
 + m yG02 + zG02 , - m xG0 yG0, - m xG0 zG0,
8 8
m r2 3 m r2
 - m xG0 yG0, + m xG02 + zG02 , - m yG0 zG0,
8 8
m r2
- m xG0 zG0, - m yG0 zG0, + m xG02 + yG02 
4

IijGuvw
m r2 m r2 m r2
 , 0, 0, 0, , 0, 0, 0, 
2 4 4

RG0UVW = Qt.RG0 /. θ → 45 °
Iij0UVW = IijGuvw +
m RG0UVW[[2]]2 + RG0UVW[[3]]2 , - RG0UVW[[1]] RG0UVW[[2]], - RG0UVW[[1]] RG0UVW[[3]],
- RG0UVW[[2]] RG0UVW[[1]], RG0UVW[[1]]2 + RG0UVW[[3]]2 , - RG0UVW[[2]] RG0UVW[[3]],
- RG0UVW[[3]] RG0UVW[[1]], - RG0UVW[[3]] RG0UVW[[2]], RG0UVW[[1]] 2 + RG0UVW[[2]]2 

xG0 yG0 xG0 yG0

 + ,- + , zG0
2 2 2 2
2
m r2 xG0 yG0 xG0 yG0 xG0 yG0 xG0 yG0
 +m - + + zG02 , m - - - + ,m - - zG0,
2 2 2 2 2 2 2 2 2
2
xG0 yG0 xG0 yG0 m r2 xG0 yG0 xG0 yG0
m - + , +m + + zG02 , m - zG0,
2 2 2 2 4 2 2 2 2
2 2
xG0 yG0 xG0 yG0 m r2 xG0 yG0 xG0 yG0
- m + zG0, - m - + zG0, +m - + + + 
2 2 2 2 4 2 2 2 2

Iij0XYZ2 = Q.Iij0UVW.Qt /. θ → 45 ° // Simplify

3 r2 1
m + yG02 + zG02 , m r2 - 8 xG0 yG0, - m xG0 zG0,
8 8
1 3 r2
 m r2 - 8 xG0 yG0, m+ xG02 + zG02 , - m yG0 zG0,
8 8
1
- m xG0 zG0, - m yG0 zG0, m r2 + 4 xG02 + yG02 
4
 Dinámica de Maquinaria - transformación de Tensor de Inercia.nb 5

Iij0XYZ1 // Expand // MatrixForm

Iij0XYZ2 // Expand // MatrixForm
3 m r2 m r2
+ m yG02 + m zG02 - m xG0 yG0 - m xG0 zG0
8 8
m r2 3 m r2
- m xG0 yG0 + m xG02 + m zG02 - m yG0 zG0
8 8
2
mr
- m xG0 zG0 - m yG0 zG0 + m xG02 + m yG02
4

3 m r2 m r2
+ m yG02 + m zG02 - m xG0 yG0 - m xG0 zG0
8 8
m r2 3 m r2 2 2
- m xG0 yG0 + m xG0 + m zG0 - m yG0 zG0
8 8
2
mr
- m xG0 zG0 - m yG0 zG0 + m xG02 + m yG02
4

Iij0XYZ1 == Iij0XYZ2 // Expand

True