# Symmetric Inertia Tensor

Create inertia tensor from moments and products of inertia

Mass Properties

## Description

The Symmetric Inertia Tensor block creates an inertia tensor from moments and products of inertia. Each input corresponds to an element of the tensor.

The inertia tensor has the form of

`$Inertia=\left[\begin{array}{lll}{I}_{xx}\hfill & -{I}_{xy}\hfill & -{I}_{yz}\hfill \\ -{I}_{xy}\hfill & {I}_{yy}\hfill & -{I}_{xz}\hfill \\ -{I}_{yz}\hfill & -{I}_{xz}\hfill & {I}_{zz}\hfill \end{array}\right]$`

## Inputs and Outputs

InputDimension TypeDescription

First

Contains the moment of inertia about the x-axis.

Second

Contains the product of inertia in the xy plane.

Third

Contains the product of inertia in the xz plane.

Fourth

Contains the moment of inertia about the y-axis.

Fifth

Contains the product of inertia in the yz plane.

Sixth

Contains the moment of inertia about the z-axis.
OutputDimension TypeDescription

First

Contains a symmetric 3-by-3 inertia tensor.