The motion of a body under translation and rotation is examined from the point of view of a system of particles having relative motion between particles, leading to a varying configuration, and undergoing a change in mass with time, where constraints may be imposed on certain numbers of particles. Such a procedure accounts for every conceivable configuration of the system and the possibility of omitting terms in the equations of motion are minimized. The equations can be regrouped to indicate contributions of the more familiar terms, such as rigid body, jet ejection, center of mass shift, and relative motion.
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