This sounds like a good addition We need to amend this page with the equations of motion expressed on a point away from the center of mass I have an accepted answer on Physics Stackexchange Answer 1 deriving this expression In addition the explicit expression for the inverse spatial inertia can be added as seen in Edit 1 of Physics Stackexchange Answer 2 User Aghez has a good point about needing to transform the inertia matrix from body coordinates to world coordinates before they can be used