A system of particles in motion has mass center G as shown in the figure. The particle i has mass mi and its position with respect to a fixed point O is given by the position vector ρi. The position of the particle with respect to g is given by the vector ρi. The time rate of change of the angular momentum of the system of particles about G is (The quantity ¨ρi indicates second derivative of ρi with respect to time and likewise for ri