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Angular momentum of the particle about the point.

The angular momentum H, about some point O of a particle, P, is given
by:

H = r x m * v

where r is the position vector from point O to the particle P, m is
the mass of the particle, and v is the velocity of the particle in
the inertial frame, N.(more...)

src/s/y/sympy-HEAD/sympy/physics/mechanics/tests/test_particle.py   sympy(Download)
    P2.set_vel(N, v1 * N.x)
    assert p.linear_momentum(N) == m2 * v1 * N.x
    assert p.angular_momentum(O, N) == -m2 * r *v1 * N.z
    P2.set_vel(N, v2 * N.y)
    assert p.linear_momentum(N) == m2 * v2 * N.y
    assert p.angular_momentum(O, N) == 0
    P2.set_vel(N, v3 * N.z)
    assert p.linear_momentum(N) == m2 * v3 * N.z
    assert p.angular_momentum(O, N) == m2 * r * v3 * N.x
    P2.set_vel(N, v1 * N.x + v2 * N.y + v3 * N.z)
    assert p.linear_momentum(N) == m2 * (v1 * N.x + v2 * N.y + v3 * N.z)
    assert p.angular_momentum(O, N) == m2 * r * (v3 * N.x - v1 * N.z)
    p.set_potential_energy(m * g * h)
    assert p.potential_energy == m * g * h