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Linear momentum of the rigid body.

The linear momentum L, of a rigid body B, with respect to frame N is
given by

L = M * v*

where M is the mass of the rigid body and v* is the velocity of
the mass center of B in the frame, N.
(more...)

src/s/y/sympy-HEAD/sympy/physics/mechanics/tests/test_rigidbody.py   sympy(Download)
    N = ReferenceFrame('N')
    P2.set_vel(N, v1 * N.x + v2 * N.y + v3 * N.z)
    assert B.linear_momentum(N) == m2 * (v1 * N.x + v2 * N.y + v3 * N.z)